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+05/15 02:03:15 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 02:03:15 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/15 02:03:15 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 02:03:15 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
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+                                'fov_noise_degrees': None,
+                                'is_warped': False,
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+                                'up_axis': 'z',
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+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 20702,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/15 02:03:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/15 02:03:15 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 02:03:15 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 02:03:15 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 02:03:15 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/15 02:03:15 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 02:03:15 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2/sim_chunks/chunk_007'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7552d01b8690>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 20704,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/15 02:03:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/15 02:03:15 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 02:03:15 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 02:03:15 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 02:03:15 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/15 02:03:15 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 02:03:15 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2/sim_chunks/chunk_007'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7c8ed760b550>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 20703,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/15 02:03:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/15 02:03:15 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 02:03:15 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 02:03:15 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/15 02:03:15 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/15 02:03:15 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/15 02:03:15 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2/sim_chunks/chunk_007'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7b4cf3ab7110>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4,
+                                                    0.4]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_m',
+ 'seed': 20701,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.1, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.2),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 1.0),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/15 02:03:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/15 02:03:15 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/15 02:03:15 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/15 02:03:16 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 02:03:16 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 02:03:16 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 02:03:16 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/15 02:03:19 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/15 02:03:19 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 02:03:19 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/15 02:03:19 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 02:03:19 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/15 02:03:19 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 02:03:19 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/15 02:03:19 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/15 02:03:19 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 02:03:19 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 02:03:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:03:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:03:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:03:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:03:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:03:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:03:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:03:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:03:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:03:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047435m	[env.py: 870]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:03:20 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/15 02:03:20 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 02:03:20 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 02:03:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:03:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:03:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:03:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:03:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:03:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.082m, effective arm-mount z=0.778m (base_body_z=-0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.082142m	[env.py: 870]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:03:20 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/15 02:03:20 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 02:03:20 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 02:03:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:03:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:03:20 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/15 02:03:20 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/15 02:03:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:03:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:03:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:03:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:03:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:03:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041412m	[env.py: 870]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:03:20 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:03:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:03:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:03:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:03:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042068m	[env.py: 870]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:03:20 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.11646768 -0.37421773 -0.04743489] yaw=-155.8deg	[env.py: 1019]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 141.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.27588807 -0.24332051  0.04206848] yaw=-138.6deg	[env.py: 1019]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18526 free points within sampling radius	[env.py: 907]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 130.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 130.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.07007649 -0.84165403 -0.04141208] yaw=170.8deg	[env.py: 1019]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 130.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:03:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=21.8ms, retries=262.7ms, total=284.5ms	[env.py: 1105]
+05/15 02:03:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/15 02:03:20 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.50959816  0.05975102  0.04206848] yaw=-103.5deg	[env.py: 1019]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:03:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=47.0ms, retries=251.4ms, total=298.4ms	[env.py: 1075]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.276, -0.243, 0.042)	[env.py: 1079]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.6 deg	[env.py: 1082]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.30800611 -0.3725425  -0.04743489] yaw=-155.9deg	[env.py: 1019]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.08028862 -1.29373566 -0.04141208] yaw=151.7deg	[env.py: 1019]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.06076119 -1.25276753 -0.04141208] yaw=163.0deg	[env.py: 1019]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:03:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=57.9ms, retries=362.3ms, total=420.2ms	[env.py: 1075]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.070, -0.842, -0.041)	[env.py: 1079]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.8 deg	[env.py: 1082]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.18634591 -0.17064482 -0.04743489] yaw=-133.9deg	[env.py: 1019]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:03:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=21.9ms, retries=564.9ms, total=586.8ms	[env.py: 1075]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.116, -0.374, -0.047)	[env.py: 1079]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.8 deg	[env.py: 1082]
+05/15 02:03:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m	[env.py: 1086]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:03:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:03:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:03:20 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:03:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:03:20 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:03:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:03:20 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:03:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:03:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:03:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:03:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:03:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:03:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:03:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:03:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:03:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.095m, effective arm-mount z=0.765m (base_body_z=-0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.094621m	[env.py: 870]
+05/15 02:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:03:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 138.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.15107563 -0.86241179 -0.09462111] yaw=177.8deg	[env.py: 1019]
+05/15 02:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.08978467 -0.82997302 -0.09462111] yaw=176.3deg	[env.py: 1019]
+05/15 02:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.050464   -0.60189333 -0.09462111] yaw=-171.6deg	[env.py: 1019]
+05/15 02:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:03:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=235.4ms, total=235.5ms	[env.py: 1075]
+05/15 02:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.151, -0.862, -0.095)	[env.py: 1079]
+05/15 02:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.8 deg	[env.py: 1082]
+05/15 02:03:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
+05/15 02:03:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:03:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:03:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:03:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:03:22 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:03:58 INFO: [Worker 0] Warmed up parallel IK solver in 37.375s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:03:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:03:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:03:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:03:58 INFO: [Worker 0] Warmed up parallel IK solver in 37.622s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:03:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:03:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:03:58 INFO: [Worker 0] Warmed up parallel IK solver in 36.450s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:03:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:03:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:03:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:03:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:03:59 INFO: [Worker 0] Warmed up parallel IK solver in 38.512s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:03:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:03:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:03:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:03:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.981s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:03:59 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.531[m] 82.268[deg]	[grasp_sample.py: 539]
+05/15 02:03:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:03:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.624s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:03:59 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.614[m] 72.067[deg]	[grasp_sample.py: 539]
+05/15 02:03:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:04:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.430s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:04:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.600[m] 94.284[deg]	[grasp_sample.py: 539]
+05/15 02:04:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:04:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:04:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:04:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:04:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:04:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:04:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:04:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:04:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:04:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.951s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:04:02 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.607[m] 65.050[deg]	[grasp_sample.py: 539]
+05/15 02:04:03 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 02:04:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:04:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:04:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:04:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:04:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:04:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:04:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:04:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:04:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:04:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:04:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087874m	[env.py: 870]
+05/15 02:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:04:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.02329617 -1.03267098  0.08787385] yaw=148.9deg	[env.py: 1019]
+05/15 02:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.20356275 -0.73481443  0.08787385] yaw=-165.1deg	[env.py: 1019]
+05/15 02:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:04:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=291.0ms, total=291.1ms	[env.py: 1075]
+05/15 02:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.023, -1.033, 0.088)	[env.py: 1079]
+05/15 02:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.9 deg	[env.py: 1082]
+05/15 02:04:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.119m	[env.py: 1086]
+05/15 02:04:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:04:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:04:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:04:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:04:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:04:06 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:04:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:04:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:04:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:04:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:04:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.691s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:04:09 INFO: [Worker 0] Feasible grasp found 46 (originally 46): w/ 0.860[m] 115.909[deg]	[grasp_sample.py: 539]
+05/15 02:04:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:04:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:04:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:04:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:04:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:04:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:04:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:04:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:04:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:05:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:05:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:05:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:05:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:05:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:05:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:05:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:06:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:06:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:06:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:06:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:06:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:06:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:06:17 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:06:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:06:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:06:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:06:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:06:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:06:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:06:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:06:20 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:06:20 INFO: [Worker 0] Feasibility-checked 74 grasps in 0.882s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:06:20 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.098[m] 0.927[deg]	[grasp_sample.py: 539]
+05/15 02:06:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:06:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:06:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:06:23 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:06:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:06:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:06:42 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 02:06:42 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=5.61s:
+  episode_total: mean=101.98s, total=203.96s, count=2, min=47834.7ms, max=156124.2ms
+  sensor_polling: mean=437.0ms, total=131.10s, count=300, min=408.3ms, max=709.6ms
+  physics_step: mean=23.0ms, total=6.90s, count=300, min=17.8ms, max=30.8ms
+  task_sampling: mean=2.81s, total=5.61s, count=2, min=629.7ms, max=4981.0ms
+  scene_load: mean=4.30s, total=4.30s, count=1, min=4301.8ms, max=4301.8ms
+  scene_env_create: mean=2.51s, total=2.51s, count=1, min=2506.3ms, max=2506.3ms
+  scene_compile: mean=1.60s, total=1.60s, count=1, min=1602.3ms, max=1602.3ms
+  task_specific_sample: mean=649.8ms, total=1.30s, count=2, min=624.7ms, max=674.8ms
+  compile_mujoco: mean=959.7ms, total=959.7ms, count=1, min=959.7ms, max=959.7ms
+  compile_xml_load: mean=532.2ms, total=532.2ms, count=1, min=532.2ms, max=532.2ms
+  scene_init: mean=129.0ms, total=129.0ms, count=1, min=129.0ms, max=129.0ms
+  scene_asset_install: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms
+  compile_aux_objects: mean=62.3ms, total=62.3ms, count=1, min=62.3ms, max=62.3ms
+  compile_aux_policy_objects: mean=62.3ms, total=62.3ms, count=1, min=62.3ms, max=62.3ms
+  asset_install_grasps: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
+  compile_robot_add: mean=36.1ms, total=36.1ms, count=1, min=36.1ms, max=36.1ms
+  asset_install_objects: mean=14.7ms, total=14.7ms, count=1, min=14.7ms, max=14.7ms
+  scene_randomize: mean=2.7ms, total=5.4ms, count=2, min=2.3ms, max=3.1ms
+  asset_install_scene: mean=4.3ms, total=4.3ms, count=1, min=4.3ms, max=4.3ms
+  mj_forward_sync: mean=670.5us, total=1.3ms, count=2, min=0.7ms, max=0.7ms
+  policy_setup: mean=42.4us, total=0.1ms, count=2, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:06:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:06:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:06:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:06:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:06:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:06:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:06:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:06:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:06:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:06:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:06:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.078m, effective arm-mount z=0.782m (base_body_z=-0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.078491m	[env.py: 870]
+05/15 02:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:06:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.40359846 -0.23455115 -0.07849066] yaw=-114.8deg	[env.py: 1019]
+05/15 02:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.16336566 -0.58923425 -0.07849066] yaw=-154.5deg	[env.py: 1019]
+05/15 02:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.3240461  -0.05852668 -0.07849066] yaw=-117.5deg	[env.py: 1019]
+05/15 02:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:06:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=209.9ms, total=210.0ms	[env.py: 1075]
+05/15 02:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.404, -0.235, -0.078)	[env.py: 1079]
+05/15 02:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -114.8 deg	[env.py: 1082]
+05/15 02:06:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
+05/15 02:06:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:06:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:06:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:06:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:06:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:06:44 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:06:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:06:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:06:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:06:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:06:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.100s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:06:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.612[m] 107.318[deg]	[grasp_sample.py: 539]
+05/15 02:06:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:06:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:06:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:06:46 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:06:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 02:06:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:06:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:06:49 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:06:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 02:06:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:06:52 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:06:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 02:06:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:07:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:07:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:07:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 18.37s (batch: 6.77s, save: 11.59s)	[pipeline.py: 300]
+05/15 02:07:05 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=5.28s:
+  episode_total: mean=230.01s, total=230.01s, count=1, min=230006.2ms, max=230006.2ms
+  sensor_polling: mean=424.1ms, total=127.23s, count=300, min=396.7ms, max=673.6ms
+  save_trajectories: mean=11.59s, total=11.59s, count=1, min=11593.4ms, max=11593.4ms
+  physics_step: mean=24.5ms, total=7.34s, count=300, min=17.4ms, max=35.9ms
+  save_batch_prep: mean=6.77s, total=6.77s, count=1, min=6772.4ms, max=6772.4ms
+  task_sampling: mean=5.28s, total=5.28s, count=1, min=5276.0ms, max=5276.0ms
+  scene_load: mean=4.36s, total=4.36s, count=1, min=4363.1ms, max=4363.1ms
+  scene_env_create: mean=2.49s, total=2.49s, count=1, min=2492.5ms, max=2492.5ms
+  scene_compile: mean=1.67s, total=1.67s, count=1, min=1674.5ms, max=1674.5ms
+  compile_mujoco: mean=928.9ms, total=928.9ms, count=1, min=928.9ms, max=928.9ms
+  task_specific_sample: mean=909.0ms, total=909.0ms, count=1, min=909.0ms, max=909.0ms
+  compile_xml_load: mean=641.1ms, total=641.1ms, count=1, min=641.1ms, max=641.1ms
+  scene_init: mean=125.8ms, total=125.8ms, count=1, min=125.8ms, max=125.8ms
+  scene_asset_install: mean=69.8ms, total=69.8ms, count=1, min=69.8ms, max=69.8ms
+  compile_aux_objects: mean=55.6ms, total=55.6ms, count=1, min=55.6ms, max=55.6ms
+  compile_aux_policy_objects: mean=55.6ms, total=55.6ms, count=1, min=55.6ms, max=55.6ms
+  asset_install_grasps: mean=49.5ms, total=49.5ms, count=1, min=49.5ms, max=49.5ms
+  compile_robot_add: mean=35.7ms, total=35.7ms, count=1, min=35.7ms, max=35.7ms
+  asset_install_objects: mean=15.5ms, total=15.5ms, count=1, min=15.5ms, max=15.5ms
+  asset_install_scene: mean=4.7ms, total=4.7ms, count=1, min=4.7ms, max=4.7ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=492.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=53.8us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/15 02:07:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:07:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:07:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.33s (batch: 5.70s, save: 11.62s)	[pipeline.py: 300]
+05/15 02:07:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:07:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:07:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:07:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:07:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:07:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:07:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:07:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:07:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:07:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:07:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.067m, effective arm-mount z=0.793m (base_body_z=-0.067m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.067059m	[env.py: 870]
+05/15 02:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:07:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.56579784 -0.1423525  -0.06705889] yaw=-150.4deg	[env.py: 1019]
+05/15 02:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.60833031 -0.1263598  -0.06705889] yaw=-141.1deg	[env.py: 1019]
+05/15 02:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.02679021 -0.41304667 -0.06705889] yaw=-187.1deg	[env.py: 1019]
+05/15 02:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:07:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.4ms, total=118.4ms	[env.py: 1075]
+05/15 02:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.566, -0.142, -0.067)	[env.py: 1079]
+05/15 02:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.4 deg	[env.py: 1082]
+05/15 02:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m	[env.py: 1086]
+05/15 02:07:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:07:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:07:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:07:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:07:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:07:07 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:07:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:07:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:07:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:07:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:07:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:07:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:07:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.23s (batch: 4.62s, save: 11.61s)	[pipeline.py: 300]
+05/15 02:07:08 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=5.29s:
+  episode_total: mean=233.16s, total=233.16s, count=1, min=233156.1ms, max=233156.1ms
+  sensor_polling: mean=435.5ms, total=130.65s, count=300, min=410.1ms, max=751.7ms
+  save_trajectories: mean=11.62s, total=11.62s, count=1, min=11622.2ms, max=11622.2ms
+  physics_step: mean=24.1ms, total=7.23s, count=300, min=17.2ms, max=35.6ms
+  save_batch_prep: mean=5.70s, total=5.70s, count=1, min=5703.1ms, max=5703.1ms
+  task_sampling: mean=5.29s, total=5.29s, count=1, min=5292.5ms, max=5292.5ms
+  scene_load: mean=4.51s, total=4.51s, count=1, min=4511.4ms, max=4511.4ms
+  scene_env_create: mean=2.48s, total=2.48s, count=1, min=2476.7ms, max=2476.7ms
+  scene_compile: mean=1.84s, total=1.84s, count=1, min=1837.8ms, max=1837.8ms
+  compile_mujoco: mean=966.3ms, total=966.3ms, count=1, min=966.3ms, max=966.3ms
+  task_specific_sample: mean=777.0ms, total=777.0ms, count=1, min=777.0ms, max=777.0ms
+  compile_xml_load: mean=743.7ms, total=743.7ms, count=1, min=743.7ms, max=743.7ms
+  scene_init: mean=122.2ms, total=122.2ms, count=1, min=122.2ms, max=122.2ms
+  scene_asset_install: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
+  compile_aux_objects: mean=74.2ms, total=74.2ms, count=1, min=74.2ms, max=74.2ms
+  compile_aux_policy_objects: mean=74.2ms, total=74.2ms, count=1, min=74.2ms, max=74.2ms
+  asset_install_grasps: mean=50.7ms, total=50.7ms, count=1, min=50.7ms, max=50.7ms
+  compile_robot_add: mean=36.5ms, total=36.5ms, count=1, min=36.5ms, max=36.5ms
+  asset_install_objects: mean=17.0ms, total=17.0ms, count=1, min=17.0ms, max=17.0ms
+  asset_install_scene: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=595.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=43.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:07:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.911s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:07:08 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.780[m] 75.502[deg]	[grasp_sample.py: 539]
+05/15 02:07:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:07:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:07:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:07:09 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.55s:
+  episode_total: mean=116.11s, total=232.23s, count=2, min=4405.3ms, max=227822.0ms
+  sensor_polling: mean=429.5ms, total=128.85s, count=300, min=408.3ms, max=736.7ms
+  save_trajectories: mean=11.61s, total=11.61s, count=1, min=11610.7ms, max=11610.7ms
+  physics_step: mean=24.0ms, total=7.19s, count=300, min=17.9ms, max=37.1ms
+  save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4616.2ms, max=4616.2ms
+  task_sampling_failed: mean=4.41s, total=4.41s, count=1, min=4405.3ms, max=4405.3ms
+  scene_load: mean=4.11s, total=4.11s, count=1, min=4108.4ms, max=4108.4ms
+  scene_env_create: mean=2.54s, total=2.54s, count=1, min=2536.8ms, max=2536.8ms
+  scene_compile: mean=1.39s, total=1.39s, count=1, min=1390.6ms, max=1390.6ms
+  compile_mujoco: mean=901.7ms, total=901.7ms, count=1, min=901.7ms, max=901.7ms
+  task_specific_sample: mean=419.0ms, total=838.0ms, count=2, min=292.2ms, max=545.8ms
+  task_sampling: mean=548.4ms, total=548.4ms, count=1, min=548.4ms, max=548.4ms
+  compile_xml_load: mean=380.7ms, total=380.7ms, count=1, min=380.7ms, max=380.7ms
+  scene_init: mean=121.7ms, total=121.7ms, count=1, min=121.7ms, max=121.7ms
+  scene_asset_install: mean=58.8ms, total=58.8ms, count=1, min=58.8ms, max=58.8ms
+  compile_aux_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  compile_aux_policy_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  asset_install_grasps: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
+  compile_robot_add: mean=35.6ms, total=35.6ms, count=1, min=35.6ms, max=35.6ms
+  asset_install_objects: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms
+  asset_install_scene: mean=5.2ms, total=5.2ms, count=1, min=5.2ms, max=5.2ms
+  scene_randomize: mean=1.3ms, total=2.6ms, count=2, min=1.2ms, max=1.3ms
+  mj_forward_sync: mean=466.3us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:07:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:07:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:07:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:07:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:07:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:07:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:07:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:07:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:07:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:07:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:07:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:07:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043891m	[env.py: 870]
+05/15 02:07:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:07:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.09691126 -1.05555717 -0.04389067] yaw=146.5deg	[env.py: 1019]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.12526084 -0.30385009 -0.04389067] yaw=-140.6deg	[env.py: 1019]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.09651018 -1.134415   -0.04389067] yaw=138.6deg	[env.py: 1019]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:07:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=285.0ms, total=285.1ms	[env.py: 1075]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.097, -1.056, -0.044)	[env.py: 1079]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.5 deg	[env.py: 1082]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.196m	[env.py: 1086]
+05/15 02:07:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:07:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:07:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:07:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:07:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:07:11 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:07:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:07:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:07:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:07:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:07:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:07:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:07:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:07:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:07:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:07:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:07:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:07:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:07:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:07:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006000m	[env.py: 870]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:07:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:07:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18526 free points within sampling radius	[env.py: 907]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.2034973  -0.97648775  0.00599973] yaw=145.4deg	[env.py: 1019]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.25815308 -0.98875734  0.00599973] yaw=148.6deg	[env.py: 1019]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.52973012 -0.18040561  0.00599973] yaw=-135.5deg	[env.py: 1019]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:07:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.5ms, total=184.6ms	[env.py: 1075]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.203, -0.976, 0.006)	[env.py: 1079]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.4 deg	[env.py: 1082]
+05/15 02:07:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
+05/15 02:07:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:07:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:07:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:07:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:07:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:07:12 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:07:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.197s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:07:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:07:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:07:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:07:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.008s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:07:13 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.531[m] 97.367[deg]	[grasp_sample.py: 539]
+05/15 02:07:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:07:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:07:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:07:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.846s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:07:14 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:07:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:07:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:07:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:07:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:07:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:07:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:07:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:07:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:07:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:07:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.079m, effective arm-mount z=0.781m (base_body_z=-0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.079039m	[env.py: 870]
+05/15 02:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:07:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.40883753 -0.24308131 -0.07903908] yaw=-149.6deg	[env.py: 1019]
+05/15 02:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.06424588 -0.33675201 -0.07903908] yaw=-155.9deg	[env.py: 1019]
+05/15 02:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.00463896 -0.68295954 -0.07903908] yaw=-158.8deg	[env.py: 1019]
+05/15 02:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:07:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.4ms, total=160.4ms	[env.py: 1075]
+05/15 02:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.409, -0.243, -0.079)	[env.py: 1079]
+05/15 02:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.6 deg	[env.py: 1082]
+05/15 02:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
+05/15 02:07:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:07:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:07:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:07:16 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:07:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:07:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:07:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:07:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:07:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.930s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:07:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.638[m] 117.653[deg]	[grasp_sample.py: 539]
+05/15 02:07:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:07:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:07:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:07:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:07:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:07:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:08:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:08:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:08:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:08:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:08:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:08:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:08:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:08:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:08:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:08:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:09:10 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:09:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:09:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:09:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:09:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:09:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:09:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:09:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:09:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:09:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:09:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:09:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:09:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:09:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:09:28 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.623s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:09:28 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.039[m] 6.735[deg]	[grasp_sample.py: 539]
+05/15 02:09:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:09:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:09:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:09:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:09:37 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:09:39 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:09:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 02:09:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:09:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:09:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:09:50 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 02:09:50 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=0.41s:
+  episode_total: mean=163.14s, total=163.14s, count=1, min=163138.2ms, max=163138.2ms
+  sensor_polling: mean=460.6ms, total=138.18s, count=300, min=401.0ms, max=753.4ms
+  physics_step: mean=25.9ms, total=7.77s, count=300, min=17.0ms, max=32.6ms
+  task_sampling: mean=408.8ms, total=408.8ms, count=1, min=408.8ms, max=408.8ms
+  task_specific_sample: mean=404.3ms, total=404.3ms, count=1, min=404.3ms, max=404.3ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=457.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:09:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:09:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:09:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:09:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:09:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:09:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:09:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:09:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:09:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:09:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:09:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067085m	[env.py: 870]
+05/15 02:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:09:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 126.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.40478826 -0.3405862   0.06708516] yaw=-121.7deg	[env.py: 1019]
+05/15 02:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.15499865 -1.04538921  0.06708516] yaw=139.8deg	[env.py: 1019]
+05/15 02:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.11747913 -1.2409478   0.06708516] yaw=130.5deg	[env.py: 1019]
+05/15 02:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:09:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.1ms, total=205.2ms	[env.py: 1075]
+05/15 02:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.405, -0.341, 0.067)	[env.py: 1079]
+05/15 02:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.7 deg	[env.py: 1082]
+05/15 02:09:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m	[env.py: 1086]
+05/15 02:09:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:09:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:09:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:09:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:09:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:09:52 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:09:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:09:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:09:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:09:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:09:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.025s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:09:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.401[m] 85.277[deg]	[grasp_sample.py: 539]
+05/15 02:09:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:09:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:09:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:09:55 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:09:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:09:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:09:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.29s (batch: 5.19s, save: 12.11s)	[pipeline.py: 300]
+05/15 02:09:57 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.47s:
+  episode_total: mean=193.60s, total=193.60s, count=1, min=193598.0ms, max=193598.0ms
+  sensor_polling: mean=446.4ms, total=133.92s, count=300, min=384.6ms, max=837.3ms
+  save_trajectories: mean=12.11s, total=12.11s, count=1, min=12107.6ms, max=12107.6ms
+  physics_step: mean=25.9ms, total=7.78s, count=300, min=16.9ms, max=32.6ms
+  save_batch_prep: mean=5.19s, total=5.19s, count=1, min=5185.8ms, max=5185.8ms
+  task_sampling: mean=471.9ms, total=471.9ms, count=1, min=471.9ms, max=471.9ms
+  task_specific_sample: mean=468.7ms, total=468.7ms, count=1, min=468.7ms, max=468.7ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=626.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:09:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:09:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:09:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:09:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:09:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:09:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:09:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:09:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:09:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033980m	[env.py: 870]
+05/15 02:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:09:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.42377671  0.00326156 -0.03398014] yaw=-142.8deg	[env.py: 1019]
+05/15 02:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.04505883 -0.65293107 -0.03398014] yaw=-168.9deg	[env.py: 1019]
+05/15 02:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:09:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.4ms, total=216.5ms	[env.py: 1075]
+05/15 02:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.424, 0.003, -0.034)	[env.py: 1079]
+05/15 02:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.8 deg	[env.py: 1082]
+05/15 02:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/15 02:09:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:09:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:09:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:09:59 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:10:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:10:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:10:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:10:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:10:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.763s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:10:02 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:10:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:10:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:10:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:10:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:10:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:10:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:10:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:10:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:10:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:10:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:10:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053002m	[env.py: 870]
+05/15 02:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:10:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.21159475 -0.27152321  0.05300218] yaw=-167.7deg	[env.py: 1019]
+05/15 02:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.03892857 -0.82093385  0.05300218] yaw=197.0deg	[env.py: 1019]
+05/15 02:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.01829734 -1.11681202  0.05300218] yaw=177.6deg	[env.py: 1019]
+05/15 02:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:10:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=160.1ms, total=160.2ms	[env.py: 1075]
+05/15 02:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.212, -0.272, 0.053)	[env.py: 1079]
+05/15 02:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.7 deg	[env.py: 1082]
+05/15 02:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m	[env.py: 1086]
+05/15 02:10:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:10:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:10:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:10:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:10:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:10:04 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:10:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:10:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:10:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:10:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:10:06 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:10:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 02:10:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:10:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.616s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:10:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.611[m] 95.533[deg]	[grasp_sample.py: 539]
+05/15 02:10:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:10:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:10:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:10:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:10:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:10:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:10:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.65s (batch: 5.02s, save: 11.63s)	[pipeline.py: 300]
+05/15 02:10:23 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.04s:
+  episode_total: mean=95.50s, total=191.01s, count=2, min=3627.3ms, max=187380.2ms
+  sensor_polling: mean=433.6ms, total=130.09s, count=300, min=407.2ms, max=867.5ms
+  save_trajectories: mean=11.63s, total=11.63s, count=1, min=11632.0ms, max=11632.0ms
+  physics_step: mean=23.7ms, total=7.11s, count=300, min=17.3ms, max=33.1ms
+  save_batch_prep: mean=5.02s, total=5.02s, count=1, min=5017.9ms, max=5017.9ms
+  task_sampling: mean=518.0ms, total=1.04s, count=2, min=449.5ms, max=586.6ms
+  task_specific_sample: mean=514.3ms, total=1.03s, count=2, min=446.3ms, max=582.4ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.3ms, max=2.8ms
+  mj_forward_sync: mean=480.4us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:10:24 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:10:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 02:10:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:10:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:10:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:10:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:10:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:10:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:10:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:10:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:10:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:10:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:10:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:10:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.084m, effective arm-mount z=0.776m (base_body_z=-0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.084470m	[env.py: 870]
+05/15 02:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:10:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.51977041 -0.12896802 -0.08446969] yaw=-152.8deg	[env.py: 1019]
+05/15 02:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.26579689 -0.72900186 -0.08446969] yaw=-159.9deg	[env.py: 1019]
+05/15 02:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.2914612  -0.56647131 -0.08446969] yaw=-156.6deg	[env.py: 1019]
+05/15 02:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:10:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=310.6ms, total=310.6ms	[env.py: 1075]
+05/15 02:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.520, -0.129, -0.084)	[env.py: 1079]
+05/15 02:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.8 deg	[env.py: 1082]
+05/15 02:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
+05/15 02:10:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:10:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:10:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:10:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:10:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:10:26 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:10:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:10:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:10:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:10:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:10:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.892s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:10:27 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.585[m] 93.669[deg]	[grasp_sample.py: 539]
+05/15 02:10:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:10:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:10:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:10:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:10:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:10:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:10:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:10:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:10:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 18.86s (batch: 5.97s, save: 12.89s)	[pipeline.py: 300]
+05/15 02:10:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:10:44 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.59s:
+  episode_total: mean=213.04s, total=213.04s, count=1, min=213037.6ms, max=213037.6ms
+  sensor_polling: mean=477.3ms, total=143.19s, count=300, min=425.0ms, max=848.3ms
+  save_trajectories: mean=12.89s, total=12.89s, count=1, min=12889.9ms, max=12889.9ms
+  physics_step: mean=24.9ms, total=7.46s, count=300, min=21.5ms, max=35.0ms
+  save_batch_prep: mean=5.97s, total=5.97s, count=1, min=5968.0ms, max=5968.0ms
+  task_sampling: mean=591.1ms, total=591.1ms, count=1, min=591.1ms, max=591.1ms
+  task_specific_sample: mean=586.6ms, total=586.6ms, count=1, min=586.6ms, max=586.6ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=463.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=72.3us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:10:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:10:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:10:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:10:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:10:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:10:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:10:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:10:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:10:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056950m	[env.py: 870]
+05/15 02:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:10:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18526 free points within sampling radius	[env.py: 907]
+05/15 02:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.29437127 -0.50337029  0.05695025] yaw=-178.1deg	[env.py: 1019]
+05/15 02:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.48261854 -0.15170652  0.05695025] yaw=-126.1deg	[env.py: 1019]
+05/15 02:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.24643885 -0.41989304  0.05695025] yaw=-145.1deg	[env.py: 1019]
+05/15 02:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:10:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=171.0ms, total=171.0ms	[env.py: 1075]
+05/15 02:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.294, -0.503, 0.057)	[env.py: 1079]
+05/15 02:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.1 deg	[env.py: 1082]
+05/15 02:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
+05/15 02:10:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:10:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:10:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:10:47 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:10:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:10:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:10:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:10:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:10:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.902s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:10:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.509[m] 55.209[deg]	[grasp_sample.py: 539]
+05/15 02:10:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:10:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:10:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:11:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:11:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:11:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:11:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:11:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:11:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:11:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:11:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:11:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:12:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:12:16 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:12:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:12:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:12:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:12:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:12:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:12:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:12:27 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:12:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:12:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:12:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:12:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:12:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:12:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:12:31 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.608s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:12:31 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.044[m] 2.060[deg]	[grasp_sample.py: 539]
+05/15 02:12:32 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 02:12:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:12:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:12:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:12:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:12:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:12:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:12:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:12:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:12:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:12:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:12:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.057m, effective arm-mount z=0.803m (base_body_z=-0.057m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.057172m	[env.py: 870]
+05/15 02:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:12:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.23992117 -0.35901046 -0.05717223] yaw=-132.8deg	[env.py: 1019]
+05/15 02:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.50633747 -0.03075863 -0.05717223] yaw=-141.7deg	[env.py: 1019]
+05/15 02:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:12:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=211.0ms, total=211.1ms	[env.py: 1075]
+05/15 02:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.240, -0.359, -0.057)	[env.py: 1079]
+05/15 02:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.8 deg	[env.py: 1082]
+05/15 02:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
+05/15 02:12:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:12:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:12:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:12:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:12:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:12:35 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:12:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:12:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:12:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:12:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:12:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.392s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:12:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.635[m] 68.209[deg]	[grasp_sample.py: 539]
+05/15 02:12:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:12:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:12:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:12:46 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:12:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 02:12:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:12:54 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:12:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 02:12:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:13:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:13:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:13:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.72s (batch: 5.09s, save: 12.63s)	[pipeline.py: 300]
+05/15 02:13:05 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.46s:
+  episode_total: mean=192.72s, total=192.72s, count=1, min=192718.9ms, max=192718.9ms
+  sensor_polling: mean=439.6ms, total=131.89s, count=300, min=384.4ms, max=960.3ms
+  save_trajectories: mean=12.63s, total=12.63s, count=1, min=12628.9ms, max=12628.9ms
+  physics_step: mean=26.5ms, total=7.95s, count=300, min=17.6ms, max=35.2ms
+  save_batch_prep: mean=5.09s, total=5.09s, count=1, min=5093.4ms, max=5093.4ms
+  task_sampling: mean=463.8ms, total=463.8ms, count=1, min=463.8ms, max=463.8ms
+  task_specific_sample: mean=460.5ms, total=460.5ms, count=1, min=460.5ms, max=460.5ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=449.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:13:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:13:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:13:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:13:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:13:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:13:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:13:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:13:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:13:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:13:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:13:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.059m, effective arm-mount z=0.801m (base_body_z=-0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.058682m	[env.py: 870]
+05/15 02:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:13:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.26740335 -0.99000501 -0.05868207] yaw=150.3deg	[env.py: 1019]
+05/15 02:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 125.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.43255677 -0.09078696 -0.05868207] yaw=-121.5deg	[env.py: 1019]
+05/15 02:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:13:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=432.5ms, total=432.5ms	[env.py: 1075]
+05/15 02:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.267, -0.990, -0.059)	[env.py: 1079]
+05/15 02:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.3 deg	[env.py: 1082]
+05/15 02:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/15 02:13:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:13:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:13:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:13:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:13:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:13:07 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:13:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.434s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:13:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:13:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:13:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:13:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.810s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:13:09 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.412[m] 82.469[deg]	[grasp_sample.py: 539]
+05/15 02:13:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:13:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:13:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:13:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:13:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:13:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.40s (batch: 4.09s, save: 11.31s)	[pipeline.py: 300]
+05/15 02:13:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:13:10 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.92s:
+  episode_total: mean=94.72s, total=189.44s, count=2, min=3442.3ms, max=186001.3ms
+  sensor_polling: mean=430.0ms, total=129.00s, count=300, min=396.7ms, max=876.9ms
+  save_trajectories: mean=11.31s, total=11.31s, count=1, min=11314.2ms, max=11314.2ms
+  physics_step: mean=25.1ms, total=7.54s, count=300, min=21.5ms, max=40.1ms
+  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4085.7ms, max=4085.7ms
+  task_sampling: mean=458.3ms, total=916.7ms, count=2, min=421.9ms, max=494.8ms
+  task_specific_sample: mean=454.6ms, total=909.2ms, count=2, min=418.8ms, max=490.4ms
+  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.3ms, max=3.0ms
+  mj_forward_sync: mean=452.6us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.9us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:13:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:13:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:13:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:13:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:13:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:13:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:13:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:13:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:13:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060916m	[env.py: 870]
+05/15 02:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:13:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.28549469 -0.99269091  0.06091568] yaw=169.9deg	[env.py: 1019]
+05/15 02:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.00923624 -1.00741203  0.06091568] yaw=142.4deg	[env.py: 1019]
+05/15 02:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:13:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.0ms, total=216.0ms	[env.py: 1075]
+05/15 02:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.285, -0.993, 0.061)	[env.py: 1079]
+05/15 02:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.9 deg	[env.py: 1082]
+05/15 02:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m	[env.py: 1086]
+05/15 02:13:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:13:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:13:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:13:12 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:13:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:13:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:13:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:13:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:13:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.803s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:13:13 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.383[m] 105.183[deg]	[grasp_sample.py: 539]
+05/15 02:13:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:13:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:13:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:13:14 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:13:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:13:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:13:42 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:13:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 02:13:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:13:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:13:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:13:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:13:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:13:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:13:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:13:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:14:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:14:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:14:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 18.23s (batch: 5.18s, save: 13.05s)	[pipeline.py: 300]
+05/15 02:14:02 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.60s:
+  episode_total: mean=195.71s, total=195.71s, count=1, min=195714.6ms, max=195714.6ms
+  sensor_polling: mean=449.9ms, total=134.98s, count=300, min=414.7ms, max=1032.6ms
+  save_trajectories: mean=13.05s, total=13.05s, count=1, min=13050.2ms, max=13050.2ms
+  physics_step: mean=24.9ms, total=7.48s, count=300, min=21.5ms, max=82.9ms
+  save_batch_prep: mean=5.18s, total=5.18s, count=1, min=5180.0ms, max=5180.0ms
+  task_sampling: mean=597.0ms, total=597.0ms, count=1, min=597.0ms, max=597.0ms
+  task_specific_sample: mean=591.7ms, total=591.7ms, count=1, min=591.7ms, max=591.7ms
+  scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  mj_forward_sync: mean=606.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:14:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:14:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:14:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:14:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:14:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:14:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:14:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:14:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:14:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:14:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:14:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:14:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.016887m	[env.py: 870]
+05/15 02:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:14:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18526 free points within sampling radius	[env.py: 907]
+05/15 02:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.39670558  0.03933708 -0.01688684] yaw=-131.6deg	[env.py: 1019]
+05/15 02:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 139.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.03681097 -0.46886536 -0.01688684] yaw=-159.5deg	[env.py: 1019]
+05/15 02:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.32371924 -0.1735292  -0.01688684] yaw=-148.7deg	[env.py: 1019]
+05/15 02:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:14:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=163.1ms, total=163.2ms	[env.py: 1075]
+05/15 02:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.397, 0.039, -0.017)	[env.py: 1079]
+05/15 02:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.6 deg	[env.py: 1082]
+05/15 02:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m	[env.py: 1086]
+05/15 02:14:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:14:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:14:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:14:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:14:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:14:04 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:14:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:14:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:14:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:14:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:14:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.799s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:14:07 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:14:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:14:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:14:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:14:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:14:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:14:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:14:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:14:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:14:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:14:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:14:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.082m, effective arm-mount z=0.778m (base_body_z=-0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.082405m	[env.py: 870]
+05/15 02:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:14:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18526 free points within sampling radius	[env.py: 907]
+05/15 02:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.03935377 -0.8429155  -0.08240484] yaw=184.1deg	[env.py: 1019]
+05/15 02:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 131.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.01907654 -0.69764987 -0.08240484] yaw=-152.5deg	[env.py: 1019]
+05/15 02:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.0603917  -0.8992487  -0.08240484] yaw=152.5deg	[env.py: 1019]
+05/15 02:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:14:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.1ms, total=178.1ms	[env.py: 1075]
+05/15 02:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.039, -0.843, -0.082)	[env.py: 1079]
+05/15 02:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.1 deg	[env.py: 1082]
+05/15 02:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m	[env.py: 1086]
+05/15 02:14:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:14:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:14:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:14:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:14:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:14:09 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:14:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:14:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:14:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:14:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:14:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.976s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:14:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.571[m] 60.043[deg]	[grasp_sample.py: 539]
+05/15 02:14:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:14:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:14:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:14:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:14:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:14:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:14:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:14:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:14:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:14:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:14:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:14:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:14:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:14:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:14:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:14:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:14:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:14:41 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.728s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:14:41 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.267[deg]	[grasp_sample.py: 539]
+05/15 02:14:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:14:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:14:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:14:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:14:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:14:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:14:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:14:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:14:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:14:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:14:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:14:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:14:59 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:15:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:15:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:15:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:15:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:15:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:15:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:15:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:15:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:15:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:15:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:15:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:15:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:15:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:15:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:15:27 INFO: [Worker 0] Feasibility-checked 84 grasps in 4.705s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:15:27 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.123[m] 0.379[deg]	[grasp_sample.py: 539]
+05/15 02:15:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:15:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:15:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:15:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:15:29 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:15:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 02:15:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:15:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:15:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:15:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:15:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:15:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:15:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:15:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:15:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:15:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:15:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:15:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:15:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:15:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:15:41 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.782s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:15:41 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.055[m] 1.583[deg]	[grasp_sample.py: 539]
+05/15 02:15:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:15:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:15:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:15:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:15:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:15:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.06s (batch: 4.29s, save: 11.77s)	[pipeline.py: 300]
+05/15 02:15:46 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.17s:
+  episode_total: mean=159.50s, total=319.00s, count=2, min=127420.6ms, max=191582.9ms
+  sensor_polling: mean=440.9ms, total=236.31s, count=536, min=403.5ms, max=1038.2ms
+  physics_step: mean=24.1ms, total=12.89s, count=536, min=17.1ms, max=38.6ms
+  save_trajectories: mean=11.77s, total=11.77s, count=1, min=11773.0ms, max=11773.0ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4289.3ms, max=4289.3ms
+  task_sampling: mean=583.1ms, total=1.17s, count=2, min=555.0ms, max=611.1ms
+  task_specific_sample: mean=579.2ms, total=1.16s, count=2, min=551.6ms, max=606.8ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.3ms, max=2.9ms
+  mj_forward_sync: mean=456.3us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=28.7us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:15:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:15:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:15:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:15:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:15:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:15:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:15:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:15:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:15:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.077m, effective arm-mount z=0.783m (base_body_z=-0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.076542m	[env.py: 870]
+05/15 02:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:15:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -177.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.23552805 -0.25514642 -0.07654208] yaw=-166.0deg	[env.py: 1019]
+05/15 02:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.09755624 -0.82846058 -0.07654208] yaw=188.9deg	[env.py: 1019]
+05/15 02:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.53227724 -0.20981606 -0.07654208] yaw=-148.3deg	[env.py: 1019]
+05/15 02:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:15:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=210.6ms, total=210.6ms	[env.py: 1075]
+05/15 02:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.236, -0.255, -0.077)	[env.py: 1079]
+05/15 02:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.0 deg	[env.py: 1082]
+05/15 02:15:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m	[env.py: 1086]
+05/15 02:15:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:15:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:15:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:15:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:15:48 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:15:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:15:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:15:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:15:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:15:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:15:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.815s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:15:51 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.669[m] 77.751[deg]	[grasp_sample.py: 539]
+05/15 02:15:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:15:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:15:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:15:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:15:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:15:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:15:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:15:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:16:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:16:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:16:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:16:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:16:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:16:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:16:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:16:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:16:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:16:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:16:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:16:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:16:09 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.147s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:16:09 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 4.277[deg]	[grasp_sample.py: 539]
+05/15 02:16:10 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:16:11 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 02:16:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:16:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:16:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:16:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:16:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:16:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:16:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:16:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:16:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:16:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:16:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:16:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:16:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:16:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011888m	[env.py: 870]
+05/15 02:16:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:16:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:16:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.03668793 -0.5040515   0.01188772] yaw=-151.7deg	[env.py: 1019]
+05/15 02:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.35390172 -0.08525446  0.01188772] yaw=-117.4deg	[env.py: 1019]
+05/15 02:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.33261083 -0.28868367  0.01188772] yaw=-119.6deg	[env.py: 1019]
+05/15 02:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:16:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=148.1ms, total=148.2ms	[env.py: 1075]
+05/15 02:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.037, -0.504, 0.012)	[env.py: 1079]
+05/15 02:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.7 deg	[env.py: 1082]
+05/15 02:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m	[env.py: 1086]
+05/15 02:16:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:16:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:16:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:16:13 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:16:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:16:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:16:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:16:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:16:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.643s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:16:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.851[m] 113.503[deg]	[grasp_sample.py: 539]
+05/15 02:16:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:16:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:16:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:16:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:16:36 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:16:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 02:16:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:16:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:16:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:16:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:16:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.66s (batch: 5.04s, save: 12.62s)	[pipeline.py: 300]
+05/15 02:16:55 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.74s:
+  episode_total: mean=228.41s, total=228.41s, count=1, min=228413.8ms, max=228413.8ms
+  sensor_polling: mean=446.2ms, total=133.86s, count=300, min=400.6ms, max=976.9ms
+  save_trajectories: mean=12.62s, total=12.62s, count=1, min=12617.5ms, max=12617.5ms
+  physics_step: mean=26.1ms, total=7.82s, count=300, min=15.9ms, max=38.0ms
+  save_batch_prep: mean=5.04s, total=5.04s, count=1, min=5043.1ms, max=5043.1ms
+  task_sampling: mean=740.9ms, total=740.9ms, count=1, min=740.9ms, max=740.9ms
+  task_specific_sample: mean=736.8ms, total=736.8ms, count=1, min=736.8ms, max=736.8ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=465.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=56.1us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:16:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:16:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:16:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:16:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:16:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:16:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:16:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:16:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:16:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:16:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:16:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.073m, effective arm-mount z=0.787m (base_body_z=-0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.072915m	[env.py: 870]
+05/15 02:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:16:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:16:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:16:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=300.6ms, total=300.7ms	[env.py: 1105]
+05/15 02:16:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/15 02:16:57 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/15 02:16:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:16:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:16:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:16:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:16:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:16:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:16:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:16:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:16:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043947m	[env.py: 870]
+05/15 02:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:16:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.07461339 -1.09896916  0.04394666] yaw=149.0deg	[env.py: 1019]
+05/15 02:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.04544451 -0.84362059  0.04394666] yaw=204.4deg	[env.py: 1019]
+05/15 02:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:17:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=229.9ms, total=230.0ms	[env.py: 1075]
+05/15 02:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.075, -1.099, 0.044)	[env.py: 1079]
+05/15 02:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.0 deg	[env.py: 1082]
+05/15 02:17:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.183m	[env.py: 1086]
+05/15 02:17:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:17:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:17:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:17:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:17:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:17:00 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:17:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:17:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:17:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:17:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:17:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:17:02 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:17:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.604s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:17:03 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:17:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:17:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:17:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:17:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:17:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:17:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:17:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:17:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:17:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:17:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:17:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040619m	[env.py: 870]
+05/15 02:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:17:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.51437116 -0.18953888 -0.04061891] yaw=-139.0deg	[env.py: 1019]
+05/15 02:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.01468506 -0.47312374 -0.04061891] yaw=-169.2deg	[env.py: 1019]
+05/15 02:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:17:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=339.1ms, total=339.2ms	[env.py: 1075]
+05/15 02:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.514, -0.190, -0.041)	[env.py: 1079]
+05/15 02:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.0 deg	[env.py: 1082]
+05/15 02:17:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
+05/15 02:17:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:17:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:17:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:17:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:17:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:17:06 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:17:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:17:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:17:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:17:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:17:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:17:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.882s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:17:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.502[m] 98.914[deg]	[grasp_sample.py: 539]
+05/15 02:17:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:17:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:17:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:17:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:17:31 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:17:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 02:17:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:17:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:17:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:17:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:17:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.35s (batch: 4.40s, save: 10.95s)	[pipeline.py: 300]
+05/15 02:17:47 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.98s:
+  episode_total: mean=111.10s, total=222.20s, count=2, min=3517.9ms, max=218679.7ms
+  sensor_polling: mean=466.1ms, total=139.83s, count=300, min=415.4ms, max=809.9ms
+  save_trajectories: mean=10.95s, total=10.95s, count=1, min=10953.8ms, max=10953.8ms
+  physics_step: mean=25.3ms, total=7.59s, count=300, min=17.5ms, max=34.9ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4398.9ms, max=4398.9ms
+  task_sampling: mean=489.4ms, total=978.8ms, count=2, min=482.8ms, max=496.0ms
+  task_specific_sample: mean=485.1ms, total=970.2ms, count=2, min=479.1ms, max=491.1ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.4ms, max=3.1ms
+  mj_forward_sync: mean=596.1us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
+  policy_setup: mean=42.4us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:17:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:17:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:17:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:17:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:17:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:17:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:17:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:17:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:17:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:17:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.079m, effective arm-mount z=0.781m (base_body_z=-0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.079344m	[env.py: 870]
+05/15 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:17:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18526 free points within sampling radius	[env.py: 907]
+05/15 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 138.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 157.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.25847114 -0.74271027 -0.07934365] yaw=-195.9deg	[env.py: 1019]
+05/15 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.03116373 -0.76683078 -0.07934365] yaw=-176.6deg	[env.py: 1019]
+05/15 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.07522902 -1.18223025 -0.07934365] yaw=145.7deg	[env.py: 1019]
+05/15 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:17:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.8ms, total=184.8ms	[env.py: 1075]
+05/15 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.258, -0.743, -0.079)	[env.py: 1079]
+05/15 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -195.9 deg	[env.py: 1082]
+05/15 02:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m	[env.py: 1086]
+05/15 02:17:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:17:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:17:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:17:49 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:17:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:17:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:17:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:17:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:17:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.933s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:17:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.370[m] 64.946[deg]	[grasp_sample.py: 539]
+05/15 02:17:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:17:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:17:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:17:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:17:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:17:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:18:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:18:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:18:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:18:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:18:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:18:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:18:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:18:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:18:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:18:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:18:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:18:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:18:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:18:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:18:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 70 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:18:22 INFO: [Worker 0] Feasibility-checked 70 grasps in 2.730s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:18:22 INFO: [Worker 0] Feasible grasp found 13 (originally 13): w/ 0.154[m] 0.969[deg]	[grasp_sample.py: 539]
+05/15 02:18:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:18:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:18:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:18:25 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:18:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:18:33 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 02:18:33 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=False episode_total=1.00s:
+  episode_total: mean=159.91s, total=319.81s, count=2, min=140949.1ms, max=178864.1ms
+  sensor_polling: mean=440.0ms, total=252.12s, count=573, min=385.1ms, max=994.0ms
+  physics_step: mean=24.8ms, total=14.23s, count=573, min=15.5ms, max=35.4ms
+  task_sampling: mean=498.1ms, total=996.2ms, count=2, min=466.0ms, max=530.2ms
+  task_specific_sample: mean=493.0ms, total=986.0ms, count=2, min=459.9ms, max=526.2ms
+  scene_randomize: mean=2.7ms, total=5.3ms, count=2, min=2.6ms, max=2.7ms
+  mj_forward_sync: mean=610.0us, total=1.2ms, count=2, min=0.5ms, max=0.8ms
+  policy_setup: mean=23.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:18:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:18:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:18:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:18:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:18:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:18:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:18:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:18:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:18:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046646m	[env.py: 870]
+05/15 02:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:18:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.03231499 -0.85896883 -0.04664615] yaw=186.4deg	[env.py: 1019]
+05/15 02:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.61376222 -0.1326424  -0.04664615] yaw=-106.7deg	[env.py: 1019]
+05/15 02:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.31767716 -0.22574703 -0.04664615] yaw=-134.9deg	[env.py: 1019]
+05/15 02:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:18:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.2ms, total=142.3ms	[env.py: 1075]
+05/15 02:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.032, -0.859, -0.047)	[env.py: 1079]
+05/15 02:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.4 deg	[env.py: 1082]
+05/15 02:18:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/15 02:18:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:18:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:18:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:18:36 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:18:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:18:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:18:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:18:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:18:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:18:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.807s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:18:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.675[m] 112.330[deg]	[grasp_sample.py: 539]
+05/15 02:18:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:18:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:18:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:18:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:18:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:18:52 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:18:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 02:18:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:19:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:19:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:19:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.06s (batch: 4.73s, save: 11.33s)	[pipeline.py: 300]
+05/15 02:19:09 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.52s:
+  episode_total: mean=201.66s, total=201.66s, count=1, min=201658.5ms, max=201658.5ms
+  sensor_polling: mean=438.4ms, total=131.51s, count=300, min=399.3ms, max=1134.1ms
+  save_trajectories: mean=11.33s, total=11.33s, count=1, min=11328.2ms, max=11328.2ms
+  physics_step: mean=25.0ms, total=7.49s, count=300, min=17.1ms, max=40.0ms
+  save_batch_prep: mean=4.73s, total=4.73s, count=1, min=4734.1ms, max=4734.1ms
+  task_sampling: mean=518.1ms, total=518.1ms, count=1, min=518.1ms, max=518.1ms
+  task_specific_sample: mean=514.1ms, total=514.1ms, count=1, min=514.1ms, max=514.1ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=468.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:19:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:19:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:19:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:19:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:19:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:19:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:19:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:19:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:19:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:19:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:19:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.097m, effective arm-mount z=0.763m (base_body_z=-0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.096861m	[env.py: 870]
+05/15 02:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:19:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 8.01061329e-04 -9.83078434e-01 -9.68611350e-02] yaw=153.6deg	[env.py: 1019]
+05/15 02:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:19:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.07412039 -0.22169637 -0.09686113] yaw=-162.0deg	[env.py: 1019]
+05/15 02:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.01532918 -0.4477111  -0.09686113] yaw=-153.2deg	[env.py: 1019]
+05/15 02:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:19:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=307.7ms, total=307.7ms	[env.py: 1075]
+05/15 02:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.001, -0.983, -0.097)	[env.py: 1079]
+05/15 02:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.6 deg	[env.py: 1082]
+05/15 02:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
+05/15 02:19:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:19:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:19:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:19:11 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:19:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:19:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:19:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:19:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:19:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:19:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:19:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:19:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.430s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:19:17 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.940[m] 142.901[deg]	[grasp_sample.py: 539]
+05/15 02:19:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:19:18 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 02:19:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:19:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:19:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:19:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:19:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:19:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:19:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:19:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:19:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:19:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:19:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:19:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041941m	[env.py: 870]
+05/15 02:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:19:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:19:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 123.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.03329493 -1.23884317  0.04194116] yaw=170.2deg	[env.py: 1019]
+05/15 02:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.06058437 -0.51200466  0.04194116] yaw=-161.0deg	[env.py: 1019]
+05/15 02:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.03590072 -1.20999373  0.04194116] yaw=138.4deg	[env.py: 1019]
+05/15 02:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:19:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=299.3ms, total=299.4ms	[env.py: 1075]
+05/15 02:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.033, -1.239, 0.042)	[env.py: 1079]
+05/15 02:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.2 deg	[env.py: 1082]
+05/15 02:19:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.124m	[env.py: 1086]
+05/15 02:19:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:19:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:19:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:19:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:19:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:19:20 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:19:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:19:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:19:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:19:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:19:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:19:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:19:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.885s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:19:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.786[m] 109.789[deg]	[grasp_sample.py: 539]
+05/15 02:19:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:19:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:19:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:19:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:19:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:19:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:19:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:19:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:19:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:19:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:19:27 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.832s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:19:27 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.737[deg]	[grasp_sample.py: 539]
+05/15 02:19:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:19:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:19:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:19:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:19:44 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:19:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:19:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:20:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:20:11 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:20:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 02:20:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:20:17 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:20:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:20:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:20:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.78s (batch: 4.27s, save: 11.52s)	[pipeline.py: 300]
+05/15 02:20:27 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.19s:
+  episode_total: mean=68.72s, total=206.15s, count=3, min=316.6ms, max=202491.3ms
+  sensor_polling: mean=445.0ms, total=133.49s, count=300, min=392.8ms, max=934.5ms
+  save_trajectories: mean=11.52s, total=11.52s, count=1, min=11517.4ms, max=11517.4ms
+  physics_step: mean=26.4ms, total=7.92s, count=300, min=15.4ms, max=53.9ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4267.2ms, max=4267.2ms
+  task_specific_sample: mean=496.1ms, total=1.49s, count=3, min=309.2ms, max=648.8ms
+  task_sampling: mean=594.4ms, total=1.19s, count=2, min=535.7ms, max=653.0ms
+  task_sampling_failed: mean=316.6ms, total=316.6ms, count=1, min=316.6ms, max=316.6ms
+  scene_randomize: mean=2.5ms, total=7.6ms, count=3, min=2.2ms, max=3.2ms
+  mj_forward_sync: mean=589.6us, total=1.8ms, count=3, min=0.5ms, max=0.7ms
+  policy_setup: mean=22.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:20:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:20:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:20:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:20:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:20:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:20:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:20:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:20:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:20:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:20:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:20:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.088m, effective arm-mount z=0.772m (base_body_z=-0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.087838m	[env.py: 870]
+05/15 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:20:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 130.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 142.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.05016424 -1.15318588 -0.08783833] yaw=189.1deg	[env.py: 1019]
+05/15 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.32658527 -0.1236018  -0.08783833] yaw=-136.0deg	[env.py: 1019]
+05/15 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:20:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=233.3ms, total=233.3ms	[env.py: 1075]
+05/15 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.050, -1.153, -0.088)	[env.py: 1079]
+05/15 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 189.1 deg	[env.py: 1082]
+05/15 02:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
+05/15 02:20:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:20:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:20:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:20:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:20:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:20:30 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:20:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:20:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:20:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:20:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:20:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.649s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:20:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.682[m] 111.710[deg]	[grasp_sample.py: 539]
+05/15 02:20:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:20:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:20:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:20:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:20:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:20:45 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:20:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 02:20:45 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
+05/15 02:20:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:20:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:21:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:21:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:21:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.19s (batch: 4.66s, save: 12.52s)	[pipeline.py: 300]
+05/15 02:21:03 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:21:03 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.49s:
+  episode_total: mean=194.30s, total=194.30s, count=1, min=194298.8ms, max=194298.8ms
+  sensor_polling: mean=460.0ms, total=134.31s, count=292, min=386.8ms, max=780.3ms
+  save_trajectories: mean=12.52s, total=12.52s, count=1, min=12522.8ms, max=12522.8ms
+  physics_step: mean=26.3ms, total=7.68s, count=292, min=17.9ms, max=38.9ms
+  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4662.9ms, max=4662.9ms
+  task_sampling: mean=492.6ms, total=492.6ms, count=1, min=492.6ms, max=492.6ms
+  task_specific_sample: mean=488.5ms, total=488.5ms, count=1, min=488.5ms, max=488.5ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=464.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=26.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:21:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:21:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:21:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:21:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:21:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:21:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:21:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:21:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:21:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.019m, effective arm-mount z=0.841m (base_body_z=-0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.019038m	[env.py: 870]
+05/15 02:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:21:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18526 free points within sampling radius	[env.py: 907]
+05/15 02:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:21:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.9ms, total=206.9ms	[env.py: 1105]
+05/15 02:21:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/15 02:21:05 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/15 02:21:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:21:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:21:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:21:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:21:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:21:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:21:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:21:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:21:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056431m	[env.py: 870]
+05/15 02:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:21:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18526 free points within sampling radius	[env.py: 907]
+05/15 02:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.17128609 -0.38503939  0.05643121] yaw=-140.5deg	[env.py: 1019]
+05/15 02:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.06279588 -0.93551415  0.05643121] yaw=154.9deg	[env.py: 1019]
+05/15 02:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.26303798 -0.36974275  0.05643121] yaw=-133.3deg	[env.py: 1019]
+05/15 02:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:21:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.5ms, total=147.6ms	[env.py: 1075]
+05/15 02:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.171, -0.385, 0.056)	[env.py: 1079]
+05/15 02:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.5 deg	[env.py: 1082]
+05/15 02:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m	[env.py: 1086]
+05/15 02:21:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:21:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:21:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:21:07 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:21:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:21:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:21:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:21:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:21:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.204s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:21:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.636[m] 110.251[deg]	[grasp_sample.py: 539]
+05/15 02:21:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:21:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:21:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:21:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:21:33 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:21:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 02:21:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:21:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:21:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:21:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:21:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:21:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:21:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:21:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:21:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:21:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:21:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:21:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:21:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:21:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:21:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:21:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:21:50 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.655s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:21:50 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.043[m] 0.943[deg]	[grasp_sample.py: 539]
+05/15 02:21:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:21:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:21:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:21:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:21:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:21:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.56s (batch: 4.88s, save: 12.68s)	[pipeline.py: 300]
+05/15 02:21:51 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.44s:
+  episode_total: mean=195.73s, total=195.73s, count=1, min=195734.0ms, max=195734.0ms
+  sensor_polling: mean=440.1ms, total=132.03s, count=300, min=394.1ms, max=953.2ms
+  save_trajectories: mean=12.68s, total=12.68s, count=1, min=12680.2ms, max=12680.2ms
+  physics_step: mean=24.3ms, total=7.28s, count=300, min=16.9ms, max=58.2ms
+  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4875.3ms, max=4875.3ms
+  task_sampling: mean=443.4ms, total=443.4ms, count=1, min=443.4ms, max=443.4ms
+  task_specific_sample: mean=439.2ms, total=439.2ms, count=1, min=439.2ms, max=439.2ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=592.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=31.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:21:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:21:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:21:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:21:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:21:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:21:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:21:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:21:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:21:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:21:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:21:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.028m, effective arm-mount z=0.832m (base_body_z=-0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028413m	[env.py: 870]
+05/15 02:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:21:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.28607785 -0.55061167 -0.02841264] yaw=-141.8deg	[env.py: 1019]
+05/15 02:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.2761712  -0.33360501 -0.02841264] yaw=-136.9deg	[env.py: 1019]
+05/15 02:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.01214862 -0.94504245 -0.02841264] yaw=172.0deg	[env.py: 1019]
+05/15 02:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:21:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.2ms, total=104.2ms	[env.py: 1075]
+05/15 02:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.286, -0.551, -0.028)	[env.py: 1079]
+05/15 02:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.8 deg	[env.py: 1082]
+05/15 02:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
+05/15 02:21:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:21:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:21:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:21:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:21:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:21:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:21:53 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:21:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:21:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:21:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:21:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:21:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.873s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:21:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.527[m] 86.301[deg]	[grasp_sample.py: 539]
+05/15 02:21:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:21:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:21:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:21:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:21:58 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 02:21:58 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=False episode_total=1.23s:
+  episode_total: mean=83.04s, total=166.09s, count=2, min=7476.6ms, max=158608.8ms
+  sensor_polling: mean=447.6ms, total=134.27s, count=300, min=410.0ms, max=1190.1ms
+  physics_step: mean=24.3ms, total=7.30s, count=300, min=15.7ms, max=34.5ms
+  task_sampling: mean=613.1ms, total=1.23s, count=2, min=581.3ms, max=644.9ms
+  task_specific_sample: mean=608.9ms, total=1.22s, count=2, min=576.9ms, max=640.9ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=2.0ms, max=2.6ms
+  mj_forward_sync: mean=462.1us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:22:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:22:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:22:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:22:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:22:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:22:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:22:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:22:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:22:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:22:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:22:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.096m, effective arm-mount z=0.764m (base_body_z=-0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.095507m	[env.py: 870]
+05/15 02:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:22:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.05955265 -0.38240363 -0.09550667] yaw=-157.8deg	[env.py: 1019]
+05/15 02:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.25719285 -0.91550193 -0.09550667] yaw=165.1deg	[env.py: 1019]
+05/15 02:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.1967795  -0.81904465 -0.09550667] yaw=163.0deg	[env.py: 1019]
+05/15 02:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:22:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.5ms, total=150.6ms	[env.py: 1075]
+05/15 02:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.060, -0.382, -0.096)	[env.py: 1079]
+05/15 02:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.8 deg	[env.py: 1082]
+05/15 02:22:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.104m	[env.py: 1086]
+05/15 02:22:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:22:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:22:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:22:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:22:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:22:00 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:22:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:22:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:22:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:22:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:22:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.763s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:22:03 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.678[m] 76.932[deg]	[grasp_sample.py: 539]
+05/15 02:22:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:22:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:22:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:22:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:22:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:22:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:22:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:22:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:22:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:22:56 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:22:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:23:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:23:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:23:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:23:22 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:23:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 02:23:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:23:33 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:23:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:23:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:23:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.56s (batch: 4.68s, save: 11.88s)	[pipeline.py: 300]
+05/15 02:23:39 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.55s:
+  episode_total: mean=190.20s, total=190.20s, count=1, min=190199.7ms, max=190199.7ms
+  sensor_polling: mean=438.1ms, total=131.43s, count=300, min=395.8ms, max=957.2ms
+  save_trajectories: mean=11.88s, total=11.88s, count=1, min=11877.1ms, max=11877.1ms
+  physics_step: mean=25.0ms, total=7.49s, count=300, min=21.4ms, max=35.0ms
+  save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4681.9ms, max=4681.9ms
+  task_sampling: mean=545.8ms, total=545.8ms, count=1, min=545.8ms, max=545.8ms
+  task_specific_sample: mean=541.5ms, total=541.5ms, count=1, min=541.5ms, max=541.5ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=457.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=37.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:23:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:23:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:23:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:23:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:23:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:23:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:23:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:23:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:23:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:23:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:23:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030449m	[env.py: 870]
+05/15 02:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:23:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.07003686 -0.90274723  0.03044864] yaw=180.8deg	[env.py: 1019]
+05/15 02:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 146.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.27572494 -0.27004175  0.03044864] yaw=-138.8deg	[env.py: 1019]
+05/15 02:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:23:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.2ms, total=216.3ms	[env.py: 1075]
+05/15 02:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.070, -0.903, 0.030)	[env.py: 1079]
+05/15 02:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.8 deg	[env.py: 1082]
+05/15 02:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m	[env.py: 1086]
+05/15 02:23:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:23:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:23:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:23:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:23:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:23:42 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:23:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:23:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:23:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:23:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:23:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.096s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:23:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.697[m] 85.493[deg]	[grasp_sample.py: 539]
+05/15 02:23:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:23:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:23:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:23:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:24:00 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:24:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 02:24:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:24:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:24:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:24:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.73s (batch: 4.63s, save: 11.10s)	[pipeline.py: 300]
+05/15 02:24:16 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:24:17 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.46s:
+  episode_total: mean=95.22s, total=190.43s, count=2, min=221.3ms, max=190211.9ms
+  sensor_polling: mean=446.4ms, total=133.91s, count=300, min=382.1ms, max=786.2ms
+  save_trajectories: mean=11.10s, total=11.10s, count=1, min=11099.7ms, max=11099.7ms
+  physics_step: mean=25.5ms, total=7.65s, count=300, min=21.5ms, max=34.4ms
+  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4631.0ms, max=4631.0ms
+  task_specific_sample: mean=335.1ms, total=670.2ms, count=2, min=214.4ms, max=455.9ms
+  task_sampling: mean=459.6ms, total=459.6ms, count=1, min=459.6ms, max=459.6ms
+  task_sampling_failed: mean=221.3ms, total=221.3ms, count=1, min=221.3ms, max=221.3ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=451.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=24.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:24:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:24:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:24:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:24:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:24:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:24:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:24:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:24:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:24:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:24:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:24:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058413m	[env.py: 870]
+05/15 02:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:24:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18526 free points within sampling radius	[env.py: 907]
+05/15 02:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.31558543 -1.22271564  0.0584132 ] yaw=127.5deg	[env.py: 1019]
+05/15 02:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.020238   -0.31579077  0.0584132 ] yaw=-129.0deg	[env.py: 1019]
+05/15 02:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.51983956 -0.22749816  0.0584132 ] yaw=-132.3deg	[env.py: 1019]
+05/15 02:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:24:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.6ms, total=125.7ms	[env.py: 1075]
+05/15 02:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.316, -1.223, 0.058)	[env.py: 1079]
+05/15 02:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 127.5 deg	[env.py: 1082]
+05/15 02:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
+05/15 02:24:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:24:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:24:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:24:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:24:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:24:19 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:24:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:24:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:24:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:24:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:24:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.772s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:24:20 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.552[m] 89.301[deg]	[grasp_sample.py: 539]
+05/15 02:24:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:24:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:24:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:24:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:24:28 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:24:43 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:24:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 02:24:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:24:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:24:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:24:59 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:24:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 02:24:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:24:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:24:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:24:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.98s (batch: 4.30s, save: 11.68s)	[pipeline.py: 300]
+05/15 02:25:00 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.41s:
+  episode_total: mean=187.11s, total=187.11s, count=1, min=187106.1ms, max=187106.1ms
+  sensor_polling: mean=439.5ms, total=131.84s, count=300, min=395.7ms, max=964.2ms
+  save_trajectories: mean=11.68s, total=11.68s, count=1, min=11676.2ms, max=11676.2ms
+  physics_step: mean=25.7ms, total=7.70s, count=300, min=17.2ms, max=34.7ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4303.7ms, max=4303.7ms
+  task_sampling: mean=407.6ms, total=407.6ms, count=1, min=407.6ms, max=407.6ms
+  task_specific_sample: mean=403.6ms, total=403.6ms, count=1, min=403.6ms, max=403.6ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=462.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:25:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:25:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:25:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:25:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:25:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:25:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:25:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:25:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:25:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:25:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:25:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.088m, effective arm-mount z=0.772m (base_body_z=-0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.088369m	[env.py: 870]
+05/15 02:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:25:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.32900854  0.03466698 -0.0883687 ] yaw=-138.3deg	[env.py: 1019]
+05/15 02:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.28787783 -1.07949829 -0.0883687 ] yaw=183.9deg	[env.py: 1019]
+05/15 02:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 133.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.05323748 -0.85124466 -0.0883687 ] yaw=185.0deg	[env.py: 1019]
+05/15 02:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:25:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.9ms, total=133.0ms	[env.py: 1075]
+05/15 02:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.329, 0.035, -0.088)	[env.py: 1079]
+05/15 02:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.3 deg	[env.py: 1082]
+05/15 02:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.131m	[env.py: 1086]
+05/15 02:25:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:25:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:25:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:25:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:25:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:25:01 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:25:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:25:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:25:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:25:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:25:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:25:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.783s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:25:04 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:25:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:25:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:25:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:25:06 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:25:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:25:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:25:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005246m	[env.py: 870]
+05/15 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:25:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 140.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.18864773 -0.48666703 -0.00524639] yaw=-167.5deg	[env.py: 1019]
+05/15 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.2497285  -0.64381071 -0.00524639] yaw=-146.8deg	[env.py: 1019]
+05/15 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.38397354 -0.28885857 -0.00524639] yaw=-134.5deg	[env.py: 1019]
+05/15 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:25:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.3ms, total=135.4ms	[env.py: 1075]
+05/15 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.189, -0.487, -0.005)	[env.py: 1079]
+05/15 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg	[env.py: 1082]
+05/15 02:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m	[env.py: 1086]
+05/15 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:25:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:25:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:25:06 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:25:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:25:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:25:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:25:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:25:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.795s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:25:09 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.570[m] 76.298[deg]	[grasp_sample.py: 539]
+05/15 02:25:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:25:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:25:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:25:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:25:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:25:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:25:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:25:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.23s (batch: 5.09s, save: 11.15s)	[pipeline.py: 300]
+05/15 02:25:16 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.42s:
+  episode_total: mean=195.93s, total=195.93s, count=1, min=195931.9ms, max=195931.9ms
+  sensor_polling: mean=438.8ms, total=131.63s, count=300, min=395.9ms, max=1158.7ms
+  save_trajectories: mean=11.15s, total=11.15s, count=1, min=11146.3ms, max=11146.3ms
+  physics_step: mean=23.6ms, total=7.09s, count=300, min=17.8ms, max=33.9ms
+  save_batch_prep: mean=5.09s, total=5.09s, count=1, min=5086.9ms, max=5086.9ms
+  task_sampling: mean=416.6ms, total=416.6ms, count=1, min=416.6ms, max=416.6ms
+  task_specific_sample: mean=413.7ms, total=413.7ms, count=1, min=413.7ms, max=413.7ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=462.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=14.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:25:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:25:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:25:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:25:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:25:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:25:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:25:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:25:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:25:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:25:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:25:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083896m	[env.py: 870]
+05/15 02:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:25:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.06023304 -0.59985376  0.08389567] yaw=-185.5deg	[env.py: 1019]
+05/15 02:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.15328928 -1.20190507  0.08389567] yaw=134.7deg	[env.py: 1019]
+05/15 02:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.25615549 -0.721691    0.08389567] yaw=-156.0deg	[env.py: 1019]
+05/15 02:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:25:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.2ms, total=174.3ms	[env.py: 1075]
+05/15 02:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.060, -0.600, 0.084)	[env.py: 1079]
+05/15 02:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.5 deg	[env.py: 1082]
+05/15 02:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m	[env.py: 1086]
+05/15 02:25:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:25:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:25:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:25:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:25:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:25:18 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:25:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:25:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:25:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:25:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:25:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.139s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:25:20 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.687[m] 96.615[deg]	[grasp_sample.py: 539]
+05/15 02:25:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:25:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:25:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:25:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:25:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:25:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:25:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:26:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:26:10 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:26:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:26:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:26:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:26:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:26:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:26:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:26:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:26:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:26:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:26:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:26:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:26:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:26:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:26:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:26:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:26:28 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.867s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:26:28 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.473[deg]	[grasp_sample.py: 539]
+05/15 02:26:30 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 02:26:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:26:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:26:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:26:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:26:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:26:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:26:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:26:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:26:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.071m, effective arm-mount z=0.789m (base_body_z=-0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.071274m	[env.py: 870]
+05/15 02:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:26:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18526 free points within sampling radius	[env.py: 907]
+05/15 02:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.13078658 -0.58206338 -0.07127408] yaw=-162.9deg	[env.py: 1019]
+05/15 02:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.25931749 -0.85113452 -0.07127408] yaw=194.0deg	[env.py: 1019]
+05/15 02:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.17086485 -1.04041211 -0.07127408] yaw=179.4deg	[env.py: 1019]
+05/15 02:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:26:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.1ms, total=190.1ms	[env.py: 1075]
+05/15 02:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.131, -0.582, -0.071)	[env.py: 1079]
+05/15 02:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.9 deg	[env.py: 1082]
+05/15 02:26:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m	[env.py: 1086]
+05/15 02:26:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:26:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:26:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:26:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:26:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:26:32 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:26:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:26:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:26:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:26:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:26:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.678s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:26:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.578[m] 76.908[deg]	[grasp_sample.py: 539]
+05/15 02:26:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:26:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:26:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:26:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:26:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:26:36 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:26:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 02:26:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:26:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:26:50 INFO: [Worker 0] Object is not in grasp! 0.00101 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 02:26:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:26:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:26:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:26:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:26:51 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.943s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:26:51 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.055[m] 2.031[deg]	[grasp_sample.py: 539]
+05/15 02:26:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:26:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:26:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:26:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:26:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:26:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.52s (batch: 4.42s, save: 11.10s)	[pipeline.py: 300]
+05/15 02:26:53 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.53s:
+  episode_total: mean=191.58s, total=191.58s, count=1, min=191582.3ms, max=191582.3ms
+  sensor_polling: mean=456.7ms, total=137.02s, count=300, min=401.9ms, max=978.4ms
+  save_trajectories: mean=11.10s, total=11.10s, count=1, min=11102.3ms, max=11102.3ms
+  physics_step: mean=25.1ms, total=7.53s, count=300, min=16.8ms, max=30.7ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4419.8ms, max=4419.8ms
+  task_sampling: mean=531.8ms, total=531.8ms, count=1, min=531.8ms, max=531.8ms
+  task_specific_sample: mean=527.5ms, total=527.5ms, count=1, min=527.5ms, max=527.5ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=513.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=31.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:26:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:26:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:26:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:26:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:26:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:26:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:26:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:26:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:26:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:26:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.087m, effective arm-mount z=0.773m (base_body_z=-0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.087066m	[env.py: 870]
+05/15 02:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:26:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.49218011  0.0348041  -0.08706628] yaw=-109.8deg	[env.py: 1019]
+05/15 02:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.23366507 -0.67627067 -0.08706628] yaw=-149.5deg	[env.py: 1019]
+05/15 02:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.24550473 -0.84205245 -0.08706628] yaw=169.8deg	[env.py: 1019]
+05/15 02:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:26:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=277.8ms, total=277.8ms	[env.py: 1075]
+05/15 02:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.492, 0.035, -0.087)	[env.py: 1079]
+05/15 02:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -109.8 deg	[env.py: 1082]
+05/15 02:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
+05/15 02:26:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:26:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:26:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:26:55 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:26:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:26:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:26:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:26:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:26:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.731s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:26:58 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:27:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:27:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:27:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:27:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:27:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:27:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:27:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:27:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:27:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.088m, effective arm-mount z=0.772m (base_body_z=-0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.087826m	[env.py: 870]
+05/15 02:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:27:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.10309266 -0.39975311 -0.08782552] yaw=-164.9deg	[env.py: 1019]
+05/15 02:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:27:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=294.2ms, total=294.2ms	[env.py: 1075]
+05/15 02:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.103, -0.400, -0.088)	[env.py: 1079]
+05/15 02:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.9 deg	[env.py: 1082]
+05/15 02:27:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m	[env.py: 1086]
+05/15 02:27:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:27:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:27:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:27:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:27:00 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:27:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:27:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:27:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:27:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:27:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:27:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.664s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:27:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.711[m] 85.394[deg]	[grasp_sample.py: 539]
+05/15 02:27:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:27:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:27:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:27:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:27:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:27:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:27:31 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:27:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:27:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:27:47 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 02:27:47 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=False episode_total=0.48s:
+  episode_total: mean=149.43s, total=149.43s, count=1, min=149425.5ms, max=149425.5ms
+  sensor_polling: mean=441.4ms, total=132.41s, count=300, min=401.9ms, max=1198.5ms
+  physics_step: mean=23.7ms, total=7.10s, count=300, min=16.7ms, max=34.3ms
+  task_sampling: mean=481.8ms, total=481.8ms, count=1, min=481.8ms, max=481.8ms
+  task_specific_sample: mean=477.5ms, total=477.5ms, count=1, min=477.5ms, max=477.5ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=464.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:27:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:27:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:27:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:27:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:27:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:27:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:27:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:27:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:27:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:27:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:27:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.079m, effective arm-mount z=0.781m (base_body_z=-0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.079248m	[env.py: 870]
+05/15 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:27:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 144.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.07210856 -0.52310846 -0.07924834] yaw=-191.7deg	[env.py: 1019]
+05/15 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.19490884 -0.97847151 -0.07924834] yaw=145.2deg	[env.py: 1019]
+05/15 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:27:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=279.2ms, total=279.3ms	[env.py: 1075]
+05/15 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.072, -0.523, -0.079)	[env.py: 1079]
+05/15 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -191.7 deg	[env.py: 1082]
+05/15 02:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.183m	[env.py: 1086]
+05/15 02:27:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:27:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:27:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:27:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:27:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:27:49 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:27:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:27:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:27:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:27:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:27:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.902s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:27:52 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:27:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:27:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:27:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:27:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:27:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:27:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:27:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:27:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:27:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.096m, effective arm-mount z=0.764m (base_body_z=-0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.096050m	[env.py: 870]
+05/15 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:27:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.19062542 -0.87152891 -0.09605043] yaw=151.4deg	[env.py: 1019]
+05/15 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 124.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.32412875 -0.05429064 -0.09605043] yaw=-140.9deg	[env.py: 1019]
+05/15 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.19574519 -0.68676593 -0.09605043] yaw=-154.5deg	[env.py: 1019]
+05/15 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:27:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=202.9ms, total=203.0ms	[env.py: 1075]
+05/15 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.191, -0.872, -0.096)	[env.py: 1079]
+05/15 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.4 deg	[env.py: 1082]
+05/15 02:27:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m	[env.py: 1086]
+05/15 02:27:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:27:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:27:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:27:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:27:57 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:27:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.156s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:27:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:27:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:27:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:27:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.802s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:27:58 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.538[m] 87.353[deg]	[grasp_sample.py: 539]
+05/15 02:27:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:27:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:27:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:27:58 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:27:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 02:27:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:27:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:28:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:28:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:28:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:28:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.19s (batch: 4.53s, save: 11.65s)	[pipeline.py: 300]
+05/15 02:28:15 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.83s:
+  episode_total: mean=96.32s, total=192.63s, count=2, min=3416.1ms, max=189218.2ms
+  sensor_polling: mean=438.2ms, total=131.47s, count=300, min=393.1ms, max=896.8ms
+  save_trajectories: mean=11.65s, total=11.65s, count=1, min=11651.5ms, max=11651.5ms
+  physics_step: mean=24.5ms, total=7.35s, count=300, min=17.0ms, max=34.6ms
+  save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4533.5ms, max=4533.5ms
+  task_sampling: mean=413.4ms, total=826.9ms, count=2, min=388.7ms, max=438.2ms
+  task_specific_sample: mean=409.8ms, total=819.5ms, count=2, min=385.5ms, max=434.0ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.2ms, max=2.8ms
+  mj_forward_sync: mean=451.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:28:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:28:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:28:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:28:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:28:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:28:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:28:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:28:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:28:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:28:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:28:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008498m	[env.py: 870]
+05/15 02:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:28:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:28:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.00143547 -0.29696481 -0.00849766] yaw=-132.4deg	[env.py: 1019]
+05/15 02:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 127.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.24341721 -0.88044236 -0.00849766] yaw=169.4deg	[env.py: 1019]
+05/15 02:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:28:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=447.8ms, total=447.9ms	[env.py: 1075]
+05/15 02:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.001, -0.297, -0.008)	[env.py: 1079]
+05/15 02:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.4 deg	[env.py: 1082]
+05/15 02:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.192m	[env.py: 1086]
+05/15 02:28:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:28:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:28:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:28:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:28:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:28:17 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:28:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:28:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:28:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:28:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:28:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.864s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:28:20 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:28:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:28:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:28:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:28:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:28:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:28:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:28:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:28:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056453m	[env.py: 870]
+05/15 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:28:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 140.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.27240688 -1.11341172  0.05645257] yaw=185.3deg	[env.py: 1019]
+05/15 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.54913113 -0.0804184   0.05645257] yaw=-148.7deg	[env.py: 1019]
+05/15 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.41436732 -0.18496755  0.05645257] yaw=-117.5deg	[env.py: 1019]
+05/15 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:28:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.7ms, total=202.8ms	[env.py: 1075]
+05/15 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.272, -1.113, 0.056)	[env.py: 1079]
+05/15 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.3 deg	[env.py: 1082]
+05/15 02:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
+05/15 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:28:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:28:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:28:22 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:28:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:28:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:28:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:28:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:28:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.011s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:28:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.394[m] 99.521[deg]	[grasp_sample.py: 539]
+05/15 02:28:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:28:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:28:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:28:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:28:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:28:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:29:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:29:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:29:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:29:06 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:29:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:29:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:29:28 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:29:36 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:29:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 02:29:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:29:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:29:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:29:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.09s (batch: 4.68s, save: 11.41s)	[pipeline.py: 300]
+05/15 02:29:53 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.95s:
+  episode_total: mean=166.66s, total=333.33s, count=2, min=131705.5ms, max=201621.9ms
+  sensor_polling: mean=457.2ms, total=248.24s, count=543, min=387.8ms, max=908.3ms
+  physics_step: mean=25.9ms, total=14.08s, count=543, min=17.4ms, max=98.2ms
+  save_trajectories: mean=11.41s, total=11.41s, count=1, min=11407.0ms, max=11407.0ms
+  save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4682.2ms, max=4682.2ms
+  task_sampling: mean=476.5ms, total=952.9ms, count=2, min=476.2ms, max=476.8ms
+  task_specific_sample: mean=472.5ms, total=945.0ms, count=2, min=472.5ms, max=472.5ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.4ms, max=2.6ms
+  mj_forward_sync: mean=468.5us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=28.6us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:29:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:29:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:29:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:29:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:29:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:29:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:29:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:29:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:29:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.099697m	[env.py: 870]
+05/15 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:29:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18526 free points within sampling radius	[env.py: 907]
+05/15 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 127.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.22135098 -0.52517269 -0.09969731] yaw=-145.8deg	[env.py: 1019]
+05/15 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.14750783 -0.59056708 -0.09969731] yaw=-163.5deg	[env.py: 1019]
+05/15 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:29:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=219.3ms, total=219.3ms	[env.py: 1075]
+05/15 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.221, -0.525, -0.100)	[env.py: 1079]
+05/15 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.8 deg	[env.py: 1082]
+05/15 02:29:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m	[env.py: 1086]
+05/15 02:29:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:29:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:29:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:29:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:29:55 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:29:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:29:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:29:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:29:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:29:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.050s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:29:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.525[m] 94.583[deg]	[grasp_sample.py: 539]
+05/15 02:29:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:29:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:29:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:29:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:29:58 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:29:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 02:29:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:30:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:30:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:30:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.84s (batch: 4.47s, save: 11.38s)	[pipeline.py: 300]
+05/15 02:30:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:14 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.17s:
+  episode_total: mean=99.08s, total=198.16s, count=2, min=3510.4ms, max=194650.1ms
+  sensor_polling: mean=442.7ms, total=132.81s, count=300, min=391.3ms, max=1000.0ms
+  save_trajectories: mean=11.38s, total=11.38s, count=1, min=11375.5ms, max=11375.5ms
+  physics_step: mean=25.3ms, total=7.59s, count=300, min=17.7ms, max=58.3ms
+  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4466.1ms, max=4466.1ms
+  task_sampling: mean=584.3ms, total=1.17s, count=2, min=584.1ms, max=584.4ms
+  task_specific_sample: mean=580.5ms, total=1.16s, count=2, min=580.0ms, max=580.9ms
+  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=457.5us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.1us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:30:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:30:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:30:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:30:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:30:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:30:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:30:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:30:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:30:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:30:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:30:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:30:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:30:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:30:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:30:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:30:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044497m	[env.py: 870]
+05/15 02:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:30:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.08861172 -0.78149041  0.04449678] yaw=-186.1deg	[env.py: 1019]
+05/15 02:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.00356463 -1.13825967  0.04449678] yaw=176.4deg	[env.py: 1019]
+05/15 02:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 123.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:30:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=286.2ms, total=286.3ms	[env.py: 1075]
+05/15 02:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.089, -0.781, 0.044)	[env.py: 1079]
+05/15 02:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.1 deg	[env.py: 1082]
+05/15 02:30:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m	[env.py: 1086]
+05/15 02:30:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:30:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:30:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:30:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:30:16 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.691s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:30:16 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.328[deg]	[grasp_sample.py: 539]
+05/15 02:30:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:30:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:30:17 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:30:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:30:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:30:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.197s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:30:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:30:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:30:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:30:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.909s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:30:18 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.612[m] 113.440[deg]	[grasp_sample.py: 539]
+05/15 02:30:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:30:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:30:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:30:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:30:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:30:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:30:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:30:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:30:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 82 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:30:31 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.610s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:30:31 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.102[m] 0.373[deg]	[grasp_sample.py: 539]
+05/15 02:30:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:30:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:30:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:30:32 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:30:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:30:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:30:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:30:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:30:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 82 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:30:46 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.664s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:30:46 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.102[m] 0.372[deg]	[grasp_sample.py: 539]
+05/15 02:30:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:30:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:30:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:30:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:30:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:30:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:30:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:31:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:31:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:31:01 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/15 02:31:02 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:31:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 02:31:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:31:02 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:31:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:31:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:31:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:31:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 19.44s (batch: 5.87s, save: 13.58s)	[pipeline.py: 300]
+05/15 02:31:22 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.17s:
+  episode_total: mean=104.89s, total=209.78s, count=2, min=3633.9ms, max=206147.4ms
+  sensor_polling: mean=463.9ms, total=139.17s, count=300, min=402.4ms, max=1174.9ms
+  save_trajectories: mean=13.58s, total=13.58s, count=1, min=13575.5ms, max=13575.5ms
+  physics_step: mean=24.9ms, total=7.47s, count=300, min=16.8ms, max=38.9ms
+  save_batch_prep: mean=5.87s, total=5.87s, count=1, min=5865.7ms, max=5865.7ms
+  task_sampling: mean=584.6ms, total=1.17s, count=2, min=555.5ms, max=613.7ms
+  task_specific_sample: mean=577.4ms, total=1.15s, count=2, min=552.1ms, max=602.7ms
+  scene_randomize: mean=3.4ms, total=6.7ms, count=2, min=1.5ms, max=5.3ms
+  mj_forward_sync: mean=545.6us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=18.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:31:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:31:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:31:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:31:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:31:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:31:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:31:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:31:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:31:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:31:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:31:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:31:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:31:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051958m	[env.py: 870]
+05/15 02:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:31:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.04584606 -0.79619825  0.051958  ] yaw=-162.2deg	[env.py: 1019]
+05/15 02:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.02541802 -1.05276058  0.051958  ] yaw=152.1deg	[env.py: 1019]
+05/15 02:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.08924368 -0.96784083  0.051958  ] yaw=150.0deg	[env.py: 1019]
+05/15 02:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:31:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=187.6ms, total=187.7ms	[env.py: 1075]
+05/15 02:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.046, -0.796, 0.052)	[env.py: 1079]
+05/15 02:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.2 deg	[env.py: 1082]
+05/15 02:31:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
+05/15 02:31:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:31:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:31:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:31:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:31:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:31:25 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:31:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:31:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:31:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:31:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:31:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.889s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:31:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.566[m] 104.497[deg]	[grasp_sample.py: 539]
+05/15 02:31:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:31:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:31:26 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:31:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 02:31:26 INFO: [Worker 0] Preparing episode data: 239 timesteps	[save_utils.py: 278]
+05/15 02:31:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:31:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:31:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:31:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:31:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:31:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:31:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:31:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:31:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:31:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:31:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:31:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:31:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:31:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:31:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:31:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.94s (batch: 3.55s, save: 9.39s)	[pipeline.py: 300]
+05/15 02:31:39 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.25s:
+  episode_total: mean=100.87s, total=201.73s, count=2, min=3869.4ms, max=197865.2ms
+  sensor_polling: mean=456.0ms, total=108.52s, count=238, min=401.4ms, max=1033.2ms
+  save_trajectories: mean=9.39s, total=9.39s, count=1, min=9391.9ms, max=9391.9ms
+  physics_step: mean=24.7ms, total=5.89s, count=238, min=15.1ms, max=33.5ms
+  save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3545.9ms, max=3545.9ms
+  task_sampling: mean=622.5ms, total=1.25s, count=2, min=461.7ms, max=783.3ms
+  task_specific_sample: mean=618.7ms, total=1.24s, count=2, min=458.2ms, max=779.2ms
+  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.2ms, max=2.7ms
+  mj_forward_sync: mean=462.6us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:31:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:31:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:31:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:31:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:31:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:31:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:31:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:31:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:31:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.070m, effective arm-mount z=0.790m (base_body_z=-0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.069530m	[env.py: 870]
+05/15 02:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:31:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 159.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.54009585 -0.05650977 -0.06952985] yaw=-147.1deg	[env.py: 1019]
+05/15 02:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:31:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.1ms, total=208.1ms	[env.py: 1075]
+05/15 02:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.540, -0.057, -0.070)	[env.py: 1079]
+05/15 02:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.1 deg	[env.py: 1082]
+05/15 02:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m	[env.py: 1086]
+05/15 02:31:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:31:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:31:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:31:41 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:31:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:31:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:31:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:31:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:31:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 7.124s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:31:42 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.131[m] 14.651[deg]	[grasp_sample.py: 539]
+05/15 02:31:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:31:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:31:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:31:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.958s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:31:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.465[m] 76.010[deg]	[grasp_sample.py: 539]
+05/15 02:31:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:31:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:31:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:31:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:32:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:32:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:32:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:32:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:32:23 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:32:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:32:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:32:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:32:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:32:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:32:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:32:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:32:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:32:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:32:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:32:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:32:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:32:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:32:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:32:36 INFO: [Worker 0] Feasibility-checked 84 grasps in 2.316s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:32:36 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.116[m] 1.530[deg]	[grasp_sample.py: 539]
+05/15 02:32:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:32:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:32:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:32:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:32:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:32:51 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:32:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 02:32:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:32:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:33:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:33:04 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:33:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:33:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:33:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:33:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.08s (batch: 4.58s, save: 11.50s)	[pipeline.py: 300]
+05/15 02:33:08 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.54s:
+  episode_total: mean=193.35s, total=193.35s, count=1, min=193345.8ms, max=193345.8ms
+  sensor_polling: mean=453.0ms, total=135.91s, count=300, min=411.8ms, max=832.8ms
+  save_trajectories: mean=11.50s, total=11.50s, count=1, min=11500.7ms, max=11500.7ms
+  physics_step: mean=24.9ms, total=7.46s, count=300, min=21.4ms, max=36.0ms
+  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4575.1ms, max=4575.1ms
+  task_sampling: mean=537.7ms, total=537.7ms, count=1, min=537.7ms, max=537.7ms
+  task_specific_sample: mean=533.5ms, total=533.5ms, count=1, min=533.5ms, max=533.5ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=468.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:33:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:33:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:33:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:33:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:33:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:33:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:33:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:33:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:33:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:33:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:33:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:33:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075246m	[env.py: 870]
+05/15 02:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:33:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18526 free points within sampling radius	[env.py: 907]
+05/15 02:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.06265651 -0.37278683  0.07524555] yaw=-148.9deg	[env.py: 1019]
+05/15 02:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.02602964 -1.32464991  0.07524555] yaw=159.9deg	[env.py: 1019]
+05/15 02:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.24127937 -0.94006462  0.07524555] yaw=159.0deg	[env.py: 1019]
+05/15 02:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:33:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.6ms, total=143.6ms	[env.py: 1075]
+05/15 02:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.063, -0.373, 0.075)	[env.py: 1079]
+05/15 02:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.9 deg	[env.py: 1082]
+05/15 02:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.105m	[env.py: 1086]
+05/15 02:33:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:33:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:33:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:33:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:33:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:33:10 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:33:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:33:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:33:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:33:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:33:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:33:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:33:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:33:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.415s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:33:16 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.652[m] 74.883[deg]	[grasp_sample.py: 539]
+05/15 02:33:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:33:17 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 02:33:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:33:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:33:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:33:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:33:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:33:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:33:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:33:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:33:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:33:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:33:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:33:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044212m	[env.py: 870]
+05/15 02:33:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:33:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18526 free points within sampling radius	[env.py: 907]
+05/15 02:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.53273844 -0.18635904  0.04421218] yaw=-156.1deg	[env.py: 1019]
+05/15 02:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.0926202  -0.85765142  0.04421218] yaw=171.5deg	[env.py: 1019]
+05/15 02:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.07274149 -0.76309828  0.04421218] yaw=-170.9deg	[env.py: 1019]
+05/15 02:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:33:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=355.4ms, total=355.5ms	[env.py: 1075]
+05/15 02:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.533, -0.186, 0.044)	[env.py: 1079]
+05/15 02:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.1 deg	[env.py: 1082]
+05/15 02:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
+05/15 02:33:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:33:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:33:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:33:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:33:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:33:19 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:33:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:33:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:33:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:33:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:33:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:33:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:33:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:33:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:33:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:33:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:33:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.365s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:33:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.697[m] 138.536[deg]	[grasp_sample.py: 539]
+05/15 02:33:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:33:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:33:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:33:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:33:22 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.602s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:33:22 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.100[deg]	[grasp_sample.py: 539]
+05/15 02:33:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:33:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:33:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:33:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:33:34 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:33:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 02:33:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:33:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:33:47 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 02:33:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:33:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:33:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:33:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:33:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.582s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:33:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.176[m] 7.291[deg]	[grasp_sample.py: 539]
+05/15 02:33:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:33:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:33:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:33:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.01s (batch: 4.12s, save: 11.89s)	[pipeline.py: 300]
+05/15 02:33:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:33:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:33:51 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.87s:
+  episode_total: mean=214.59s, total=214.59s, count=1, min=214590.6ms, max=214590.6ms
+  sensor_polling: mean=439.9ms, total=131.97s, count=300, min=394.8ms, max=976.0ms
+  save_trajectories: mean=11.89s, total=11.89s, count=1, min=11889.1ms, max=11889.1ms
+  physics_step: mean=24.0ms, total=7.19s, count=300, min=17.6ms, max=35.0ms
+  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4120.6ms, max=4120.6ms
+  task_sampling: mean=869.6ms, total=869.6ms, count=1, min=869.6ms, max=869.6ms
+  task_specific_sample: mean=864.7ms, total=864.7ms, count=1, min=864.7ms, max=864.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=466.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:33:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:33:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:33:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:33:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:33:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:33:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:33:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:33:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:33:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:33:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:33:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003252m	[env.py: 870]
+05/15 02:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:33:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.37463924 -0.37426968 -0.00325194] yaw=-165.9deg	[env.py: 1019]
+05/15 02:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:33:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.32503824  0.09121251 -0.00325194] yaw=-108.5deg	[env.py: 1019]
+05/15 02:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.08956695 -0.67323403 -0.00325194] yaw=-175.1deg	[env.py: 1019]
+05/15 02:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:33:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.5ms, total=220.5ms	[env.py: 1075]
+05/15 02:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.375, -0.374, -0.003)	[env.py: 1079]
+05/15 02:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.9 deg	[env.py: 1082]
+05/15 02:33:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m	[env.py: 1086]
+05/15 02:33:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:33:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:33:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:33:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:33:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:33:53 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:33:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.142s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:33:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:33:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:33:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:33:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.041s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:33:54 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.578[m] 101.893[deg]	[grasp_sample.py: 539]
+05/15 02:33:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:33:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:33:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:33:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:34:02 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:34:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:34:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:34:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:34:27 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 02:34:27 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=False episode_total=0.52s:
+  episode_total: mean=166.05s, total=166.05s, count=1, min=166054.1ms, max=166054.1ms
+  sensor_polling: mean=458.6ms, total=137.58s, count=300, min=405.8ms, max=1017.7ms
+  physics_step: mean=25.9ms, total=7.77s, count=300, min=16.7ms, max=33.3ms
+  task_sampling: mean=523.7ms, total=523.7ms, count=1, min=523.7ms, max=523.7ms
+  task_specific_sample: mean=519.4ms, total=519.4ms, count=1, min=519.4ms, max=519.4ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=462.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:34:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:34:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:34:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:34:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:34:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:34:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:34:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:34:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:34:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:34:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:34:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.085m, effective arm-mount z=0.775m (base_body_z=-0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.085059m	[env.py: 870]
+05/15 02:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:34:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.29975589 -1.15494278 -0.08505943] yaw=149.4deg	[env.py: 1019]
+05/15 02:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.02870311 -1.05966368 -0.08505943] yaw=142.0deg	[env.py: 1019]
+05/15 02:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.14078184 -0.1692577  -0.08505943] yaw=-159.9deg	[env.py: 1019]
+05/15 02:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:34:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=175.2ms, total=175.3ms	[env.py: 1075]
+05/15 02:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.300, -1.155, -0.085)	[env.py: 1079]
+05/15 02:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.4 deg	[env.py: 1082]
+05/15 02:34:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
+05/15 02:34:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:34:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:34:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:34:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:34:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:34:29 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:34:29 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:34:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 02:34:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:34:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:34:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:34:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:34:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:34:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:34:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.894s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:34:30 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.548[m] 90.235[deg]	[grasp_sample.py: 539]
+05/15 02:34:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:34:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:34:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:34:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:34:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:34:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:34:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:34:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:34:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.62s (batch: 4.87s, save: 11.74s)	[pipeline.py: 300]
+05/15 02:34:47 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.50s:
+  episode_total: mean=202.69s, total=202.69s, count=1, min=202690.9ms, max=202690.9ms
+  sensor_polling: mean=439.7ms, total=131.90s, count=300, min=398.5ms, max=1193.1ms
+  save_trajectories: mean=11.74s, total=11.74s, count=1, min=11742.5ms, max=11742.5ms
+  physics_step: mean=23.8ms, total=7.13s, count=300, min=16.9ms, max=35.3ms
+  save_batch_prep: mean=4.87s, total=4.87s, count=1, min=4873.1ms, max=4873.1ms
+  task_sampling: mean=504.8ms, total=504.8ms, count=1, min=504.8ms, max=504.8ms
+  task_specific_sample: mean=497.0ms, total=497.0ms, count=1, min=497.0ms, max=497.0ms
+  scene_randomize: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
+  mj_forward_sync: mean=698.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:34:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:34:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:34:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:34:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:34:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:34:48 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:34:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:34:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:34:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.030m, effective arm-mount z=0.830m (base_body_z=-0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.029556m	[env.py: 870]
+05/15 02:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:34:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.07484878 -0.7366821  -0.02955572] yaw=-169.4deg	[env.py: 1019]
+05/15 02:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.1852766  -0.22169771 -0.02955572] yaw=-135.7deg	[env.py: 1019]
+05/15 02:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.25225774 -0.60710494 -0.02955572] yaw=-143.7deg	[env.py: 1019]
+05/15 02:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:34:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=206.3ms, total=206.4ms	[env.py: 1075]
+05/15 02:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.075, -0.737, -0.030)	[env.py: 1079]
+05/15 02:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.4 deg	[env.py: 1082]
+05/15 02:34:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m	[env.py: 1086]
+05/15 02:34:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:34:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:34:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:34:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:34:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:34:49 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:34:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:34:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:34:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:34:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:34:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.369s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:34:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.626[m] 95.712[deg]	[grasp_sample.py: 539]
+05/15 02:34:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:34:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:34:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:34:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:34:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:35:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:35:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:35:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:35:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:35:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:35:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:35:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:35:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:35:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:35:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:35:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:35:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:35:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:35:58 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:35:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:36:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:36:20 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:36:27 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:36:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/15 02:36:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:36:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:36:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:36:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:36:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:36:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:36:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:36:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:36:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:36:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:36:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:36:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:36:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:36:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:36:43 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.671s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:36:43 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.506[deg]	[grasp_sample.py: 539]
+05/15 02:36:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:36:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:36:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:36:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.69s (batch: 4.75s, save: 11.95s)	[pipeline.py: 300]
+05/15 02:36:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:36:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:36:44 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.16s:
+  episode_total: mean=106.60s, total=213.20s, count=2, min=7406.7ms, max=205797.6ms
+  sensor_polling: mean=459.8ms, total=137.95s, count=300, min=371.1ms, max=882.4ms
+  save_trajectories: mean=11.95s, total=11.95s, count=1, min=11946.5ms, max=11946.5ms
+  physics_step: mean=26.3ms, total=7.89s, count=300, min=21.6ms, max=34.9ms
+  save_batch_prep: mean=4.75s, total=4.75s, count=1, min=4745.2ms, max=4745.2ms
+  task_sampling: mean=580.2ms, total=1.16s, count=2, min=457.8ms, max=702.6ms
+  task_specific_sample: mean=575.3ms, total=1.15s, count=2, min=453.5ms, max=697.1ms
+  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=2.2ms, max=2.6ms
+  mj_forward_sync: mean=512.4us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=27.7us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:36:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:36:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:36:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:36:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:36:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:36:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:36:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:36:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:36:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:36:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:36:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002742m	[env.py: 870]
+05/15 02:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:36:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18526 free points within sampling radius	[env.py: 907]
+05/15 02:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 139.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.44602389 -0.00276196 -0.00274181] yaw=-116.9deg	[env.py: 1019]
+05/15 02:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.07103798 -0.85409508 -0.00274181] yaw=185.5deg	[env.py: 1019]
+05/15 02:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.47149628 -0.26557414 -0.00274181] yaw=-133.7deg	[env.py: 1019]
+05/15 02:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:36:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=237.5ms, total=237.6ms	[env.py: 1075]
+05/15 02:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.446, -0.003, -0.003)	[env.py: 1079]
+05/15 02:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -116.9 deg	[env.py: 1082]
+05/15 02:36:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m	[env.py: 1086]
+05/15 02:36:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:36:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:36:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:36:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:36:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:36:46 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:36:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:36:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:36:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:36:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:36:47 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:36:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 02:36:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:36:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:36:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.650s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:36:49 INFO: [Worker 0] Feasible grasp found 217 (originally 102): w/ 0.713[m] 63.358[deg]	[grasp_sample.py: 539]
+05/15 02:36:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:36:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:36:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:36:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:36:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:37:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:37:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:37:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:37:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.89s (batch: 4.73s, save: 11.15s)	[pipeline.py: 300]
+05/15 02:37:03 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.55s:
+  episode_total: mean=191.01s, total=191.01s, count=1, min=191009.2ms, max=191009.2ms
+  sensor_polling: mean=449.0ms, total=134.69s, count=300, min=397.5ms, max=963.7ms
+  save_trajectories: mean=11.15s, total=11.15s, count=1, min=11153.7ms, max=11153.7ms
+  physics_step: mean=26.5ms, total=7.96s, count=300, min=17.1ms, max=36.9ms
+  save_batch_prep: mean=4.73s, total=4.73s, count=1, min=4733.6ms, max=4733.6ms
+  task_sampling: mean=552.3ms, total=552.3ms, count=1, min=552.3ms, max=552.3ms
+  task_specific_sample: mean=547.8ms, total=547.8ms, count=1, min=547.8ms, max=547.8ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=638.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:37:04 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:37:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:37:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:37:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:37:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:37:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:37:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:37:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:37:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:37:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:37:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:37:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015434m	[env.py: 870]
+05/15 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:37:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.27600736 -0.98048678 -0.01543435] yaw=144.5deg	[env.py: 1019]
+05/15 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.27781511 -1.22473841 -0.01543435] yaw=172.5deg	[env.py: 1019]
+05/15 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.29161941 -1.03048712 -0.01543435] yaw=137.9deg	[env.py: 1019]
+05/15 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:37:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=261.1ms, total=261.2ms	[env.py: 1075]
+05/15 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.276, -0.980, -0.015)	[env.py: 1079]
+05/15 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.5 deg	[env.py: 1082]
+05/15 02:37:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m	[env.py: 1086]
+05/15 02:37:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:37:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:37:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:37:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:37:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:37:06 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:37:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:37:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:37:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:37:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:37:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.788s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:37:07 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.491[m] 72.228[deg]	[grasp_sample.py: 539]
+05/15 02:37:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:37:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:37:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:37:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:37:13 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:37:37 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:37:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 02:37:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:37:47 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:37:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 02:37:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:37:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:37:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:37:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:37:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.75s (batch: 4.69s, save: 11.06s)	[pipeline.py: 300]
+05/15 02:37:53 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.48s:
+  episode_total: mean=204.68s, total=204.68s, count=1, min=204675.5ms, max=204675.5ms
+  sensor_polling: mean=443.0ms, total=132.90s, count=300, min=394.4ms, max=893.8ms
+  save_trajectories: mean=11.06s, total=11.06s, count=1, min=11058.6ms, max=11058.6ms
+  physics_step: mean=25.1ms, total=7.54s, count=300, min=15.3ms, max=34.4ms
+  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4686.8ms, max=4686.8ms
+  task_sampling: mean=477.9ms, total=477.9ms, count=1, min=477.9ms, max=477.9ms
+  task_specific_sample: mean=473.2ms, total=473.2ms, count=1, min=473.2ms, max=473.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=608.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:37:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:37:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:37:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:37:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:37:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:37:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:37:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:37:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:37:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069033m	[env.py: 870]
+05/15 02:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:37:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 143.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 135.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.22045853 -0.27994321  0.06903318] yaw=-154.0deg	[env.py: 1019]
+05/15 02:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:37:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=201.4ms, total=201.5ms	[env.py: 1075]
+05/15 02:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.220, -0.280, 0.069)	[env.py: 1079]
+05/15 02:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.0 deg	[env.py: 1082]
+05/15 02:37:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m	[env.py: 1086]
+05/15 02:37:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:37:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:37:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:37:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:37:56 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:37:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:37:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:37:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:37:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:37:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:37:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.741s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:37:58 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.684[m] 101.348[deg]	[grasp_sample.py: 539]
+05/15 02:37:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:37:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:37:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:37:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:38:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:38:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:38:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:38:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:38:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:38:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 20.07s (batch: 8.36s, save: 11.71s)	[pipeline.py: 300]
+05/15 02:38:08 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.54s:
+  episode_total: mean=200.07s, total=200.07s, count=1, min=200073.0ms, max=200073.0ms
+  sensor_polling: mean=441.9ms, total=132.57s, count=300, min=403.2ms, max=1286.2ms
+  save_trajectories: mean=11.71s, total=11.71s, count=1, min=11709.9ms, max=11709.9ms
+  save_batch_prep: mean=8.36s, total=8.36s, count=1, min=8358.3ms, max=8358.3ms
+  physics_step: mean=23.4ms, total=7.02s, count=300, min=17.4ms, max=37.8ms
+  task_sampling: mean=542.8ms, total=542.8ms, count=1, min=542.8ms, max=542.8ms
+  task_specific_sample: mean=538.4ms, total=538.4ms, count=1, min=538.4ms, max=538.4ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=474.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:38:10 INFO: [Worker 0] Object is not in grasp! 0.00024 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/15 02:38:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:38:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:38:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:38:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:38:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:38:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:38:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:38:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:38:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:38:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:38:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:38:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:38:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085001m	[env.py: 870]
+05/15 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:38:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.2953556  -1.02551478  0.08500122] yaw=184.7deg	[env.py: 1019]
+05/15 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.34143104 -1.18573481  0.08500122] yaw=154.6deg	[env.py: 1019]
+05/15 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 150.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.40375128 -0.13533933  0.08500122] yaw=-109.5deg	[env.py: 1019]
+05/15 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:38:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.8ms, total=223.9ms	[env.py: 1075]
+05/15 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.295, -1.026, 0.085)	[env.py: 1079]
+05/15 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.7 deg	[env.py: 1082]
+05/15 02:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m	[env.py: 1086]
+05/15 02:38:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:38:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:38:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:38:11 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:38:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.142s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:38:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:38:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:38:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:38:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.238s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:38:13 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.455[m] 81.787[deg]	[grasp_sample.py: 539]
+05/15 02:38:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:38:13 INFO: [Worker 0] Feasibility-checked 84 grasps in 2.844s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:38:13 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:38:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:38:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:38:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:38:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:38:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:38:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:38:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:38:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:38:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:38:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:38:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:38:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:38:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:38:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022998m	[env.py: 870]
+05/15 02:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:38:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18526 free points within sampling radius	[env.py: 907]
+05/15 02:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -143.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.09251353 -0.86924455  0.02299806] yaw=152.7deg	[env.py: 1019]
+05/15 02:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.07738892 -0.58739171  0.02299806] yaw=-184.8deg	[env.py: 1019]
+05/15 02:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 135.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.27624954 -0.54356749  0.02299806] yaw=-146.3deg	[env.py: 1019]
+05/15 02:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:38:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.8ms, total=189.8ms	[env.py: 1075]
+05/15 02:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.093, -0.869, 0.023)	[env.py: 1079]
+05/15 02:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.7 deg	[env.py: 1082]
+05/15 02:38:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.168m	[env.py: 1086]
+05/15 02:38:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:38:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:38:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:38:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:38:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:38:15 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:38:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:38:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:38:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:38:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:38:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.732s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:38:18 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:38:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:38:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:38:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:38:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:38:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:38:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:38:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:38:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:38:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.098m, effective arm-mount z=0.762m (base_body_z=-0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.098213m	[env.py: 870]
+05/15 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:38:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18526 free points within sampling radius	[env.py: 907]
+05/15 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 133.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.16444915 -0.12357727 -0.0982128 ] yaw=-166.6deg	[env.py: 1019]
+05/15 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.12336133 -1.0111081  -0.0982128 ] yaw=196.0deg	[env.py: 1019]
+05/15 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:38:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=306.6ms, total=306.6ms	[env.py: 1075]
+05/15 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.164, -0.124, -0.098)	[env.py: 1079]
+05/15 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.6 deg	[env.py: 1082]
+05/15 02:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.143m	[env.py: 1086]
+05/15 02:38:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:38:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:38:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:38:21 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:38:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:38:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:38:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:38:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:38:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.732s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:38:23 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:38:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:38:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:38:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:38:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:38:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:38:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:38:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:38:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:38:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055551m	[env.py: 870]
+05/15 02:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:38:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18526 free points within sampling radius	[env.py: 907]
+05/15 02:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.39299164 -0.05919761  0.05555103] yaw=-155.6deg	[env.py: 1019]
+05/15 02:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.28624655 -0.44370638  0.05555103] yaw=-127.4deg	[env.py: 1019]
+05/15 02:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.20536822 -0.74164426  0.05555103] yaw=-189.7deg	[env.py: 1019]
+05/15 02:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:38:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=293.9ms, total=293.9ms	[env.py: 1075]
+05/15 02:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.393, -0.059, 0.056)	[env.py: 1079]
+05/15 02:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.6 deg	[env.py: 1082]
+05/15 02:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m	[env.py: 1086]
+05/15 02:38:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:38:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:38:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:38:25 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:38:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:38:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:38:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:38:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:38:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.842s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:38:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.841[m] 88.955[deg]	[grasp_sample.py: 539]
+05/15 02:38:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:38:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:38:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:38:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:38:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:39:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:39:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:39:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:39:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:39:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:39:44 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:39:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:39:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:39:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:39:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:39:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:39:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:39:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:40:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:40:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:40:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:40:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:40:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:40:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:40:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:40:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:40:03 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.781s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:40:03 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.187[deg]	[grasp_sample.py: 539]
+05/15 02:40:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:40:04 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 02:40:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:40:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:40:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:40:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:40:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:40:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:40:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:40:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:40:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.083m, effective arm-mount z=0.777m (base_body_z=-0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.083125m	[env.py: 870]
+05/15 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:40:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.22243128 -0.4837908  -0.08312501] yaw=-172.5deg	[env.py: 1019]
+05/15 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 127.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.15499424 -0.98299673 -0.08312501] yaw=150.3deg	[env.py: 1019]
+05/15 02:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.15727643 -0.81308426 -0.08312501] yaw=-157.5deg	[env.py: 1019]
+05/15 02:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:40:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=707.5ms, total=707.6ms	[env.py: 1075]
+05/15 02:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.222, -0.484, -0.083)	[env.py: 1079]
+05/15 02:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.5 deg	[env.py: 1082]
+05/15 02:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m	[env.py: 1086]
+05/15 02:40:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:40:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:40:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:40:08 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:40:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:40:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:40:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:40:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:40:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.069s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:40:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.695[m] 123.298[deg]	[grasp_sample.py: 539]
+05/15 02:40:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:40:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:40:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:40:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:40:11 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:40:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 02:40:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:40:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:40:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:40:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.36s (batch: 4.18s, save: 11.18s)	[pipeline.py: 300]
+05/15 02:40:27 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.59s:
+  episode_total: mean=201.92s, total=201.92s, count=1, min=201918.6ms, max=201918.6ms
+  sensor_polling: mean=466.8ms, total=140.05s, count=300, min=403.5ms, max=923.9ms
+  save_trajectories: mean=11.18s, total=11.18s, count=1, min=11176.6ms, max=11176.6ms
+  physics_step: mean=28.5ms, total=8.55s, count=300, min=20.1ms, max=73.5ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4182.2ms, max=4182.2ms
+  task_sampling: mean=588.8ms, total=588.8ms, count=1, min=588.8ms, max=588.8ms
+  task_specific_sample: mean=584.8ms, total=584.8ms, count=1, min=584.8ms, max=584.8ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=453.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:40:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:40:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:40:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:40:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:40:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:40:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:40:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:40:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:40:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:40:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:40:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073703m	[env.py: 870]
+05/15 02:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:40:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.21966392 -0.95581122  0.07370337] yaw=146.3deg	[env.py: 1019]
+05/15 02:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 123.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.23942631 -0.21333015  0.07370337] yaw=-129.3deg	[env.py: 1019]
+05/15 02:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.06464438 -1.05085652  0.07370337] yaw=182.9deg	[env.py: 1019]
+05/15 02:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:40:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.0ms, total=173.0ms	[env.py: 1075]
+05/15 02:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.220, -0.956, 0.074)	[env.py: 1079]
+05/15 02:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.3 deg	[env.py: 1082]
+05/15 02:40:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m	[env.py: 1086]
+05/15 02:40:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:40:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:40:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:40:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:40:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:40:29 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:40:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:40:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:40:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:40:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:40:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.189s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:40:31 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.525[m] 79.670[deg]	[grasp_sample.py: 539]
+05/15 02:40:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:40:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:40:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:40:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:40:33 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:40:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:40:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:40:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:40:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:40:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:40:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:40:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:40:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:40:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:40:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:40:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:40:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:40:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:40:48 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.525s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:40:48 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.187[deg]	[grasp_sample.py: 539]
+05/15 02:40:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:40:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:40:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:40:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:41:02 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:41:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 02:41:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:41:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:41:13 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/15 02:41:13 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=2.34s:
+  episode_total: mean=65.45s, total=261.79s, count=4, min=3420.0ms, max=167689.6ms
+  sensor_polling: mean=464.9ms, total=215.26s, count=463, min=403.6ms, max=938.8ms
+  physics_step: mean=25.2ms, total=11.66s, count=463, min=16.9ms, max=67.7ms
+  task_sampling: mean=584.7ms, total=2.34s, count=4, min=480.7ms, max=629.3ms
+  task_specific_sample: mean=579.8ms, total=2.32s, count=4, min=474.6ms, max=624.9ms
+  scene_randomize: mean=2.4ms, total=9.5ms, count=4, min=1.4ms, max=3.3ms
+  mj_forward_sync: mean=573.6us, total=2.3ms, count=4, min=0.5ms, max=0.7ms
+  policy_setup: mean=23.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:41:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:41:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:41:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:41:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:41:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:41:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:41:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:41:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028828m	[env.py: 870]
+05/15 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:41:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18526 free points within sampling radius	[env.py: 907]
+05/15 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 128.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.54245455 -0.11882768  0.0288276 ] yaw=-127.2deg	[env.py: 1019]
+05/15 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.34599596 -0.10067685  0.0288276 ] yaw=-123.7deg	[env.py: 1019]
+05/15 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:41:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=347.5ms, total=347.6ms	[env.py: 1075]
+05/15 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.542, -0.119, 0.029)	[env.py: 1079]
+05/15 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.2 deg	[env.py: 1082]
+05/15 02:41:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m	[env.py: 1086]
+05/15 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:41:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:41:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:41:15 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:41:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:41:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:41:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:41:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:41:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:41:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:41:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.69s (batch: 4.35s, save: 11.34s)	[pipeline.py: 300]
+05/15 02:41:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.692s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:41:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.477[m] 95.210[deg]	[grasp_sample.py: 539]
+05/15 02:41:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:41:18 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.52s:
+  episode_total: mean=203.09s, total=203.09s, count=1, min=203087.9ms, max=203087.9ms
+  sensor_polling: mean=477.4ms, total=143.21s, count=300, min=401.3ms, max=986.3ms
+  save_trajectories: mean=11.34s, total=11.34s, count=1, min=11343.2ms, max=11343.2ms
+  physics_step: mean=27.5ms, total=8.24s, count=300, min=17.0ms, max=37.4ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4350.7ms, max=4350.7ms
+  task_sampling: mean=524.2ms, total=524.2ms, count=1, min=524.2ms, max=524.2ms
+  task_specific_sample: mean=520.0ms, total=520.0ms, count=1, min=520.0ms, max=520.0ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=461.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:41:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:41:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:41:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:41:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:41:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:41:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:41:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:41:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:41:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:41:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:41:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:41:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:41:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:41:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.089m, effective arm-mount z=0.771m (base_body_z=-0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.089194m	[env.py: 870]
+05/15 02:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:41:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.26694085 -0.75820811 -0.08919412] yaw=-153.3deg	[env.py: 1019]
+05/15 02:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.27312454 -0.96399741 -0.08919412] yaw=185.4deg	[env.py: 1019]
+05/15 02:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.12899676 -1.16624637 -0.08919412] yaw=149.3deg	[env.py: 1019]
+05/15 02:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:41:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=241.0ms, total=241.0ms	[env.py: 1075]
+05/15 02:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.267, -0.758, -0.089)	[env.py: 1079]
+05/15 02:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.3 deg	[env.py: 1082]
+05/15 02:41:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m	[env.py: 1086]
+05/15 02:41:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:41:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:41:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:41:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:41:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:41:20 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:41:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:41:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:41:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:41:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:41:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:41:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.785s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:41:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.448[m] 91.757[deg]	[grasp_sample.py: 539]
+05/15 02:41:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:41:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:41:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:41:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:41:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:41:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:41:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:41:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:41:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:42:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:42:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:42:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:42:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:42:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:42:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:42:31 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:42:59 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:42:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/15 02:42:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:43:04 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:43:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:43:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:43:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:43:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:43:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.02s (batch: 4.93s, save: 12.09s)	[pipeline.py: 300]
+05/15 02:43:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:43:17 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.65s:
+  episode_total: mean=151.82s, total=303.63s, count=2, min=113917.5ms, max=189712.7ms
+  sensor_polling: mean=453.0ms, total=225.16s, count=497, min=396.2ms, max=1132.5ms
+  save_trajectories: mean=12.09s, total=12.09s, count=1, min=12088.3ms, max=12088.3ms
+  physics_step: mean=23.4ms, total=11.61s, count=497, min=17.2ms, max=39.2ms
+  save_batch_prep: mean=4.93s, total=4.93s, count=1, min=4926.6ms, max=4926.6ms
+  task_sampling: mean=823.4ms, total=1.65s, count=2, min=622.9ms, max=1023.8ms
+  task_specific_sample: mean=818.6ms, total=1.64s, count=2, min=617.5ms, max=1019.7ms
+  scene_randomize: mean=2.7ms, total=5.5ms, count=2, min=1.9ms, max=3.5ms
+  mj_forward_sync: mean=548.0us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=22.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:43:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:43:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:43:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:43:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:43:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:43:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:43:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:43:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:43:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:43:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:43:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:43:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059389m	[env.py: 870]
+05/15 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:43:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 154.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.3591659   0.13262295  0.0593894 ] yaw=-110.9deg	[env.py: 1019]
+05/15 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.2831077  -1.01138697  0.0593894 ] yaw=152.2deg	[env.py: 1019]
+05/15 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.16167929 -0.63712689  0.0593894 ] yaw=-185.6deg	[env.py: 1019]
+05/15 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:43:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=360.6ms, total=360.7ms	[env.py: 1075]
+05/15 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.359, 0.133, 0.059)	[env.py: 1079]
+05/15 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -110.9 deg	[env.py: 1082]
+05/15 02:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.188m	[env.py: 1086]
+05/15 02:43:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:43:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:43:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:43:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:43:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:43:19 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:43:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:43:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:43:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:43:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:43:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:43:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:43:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.609s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:43:22 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:43:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:43:24 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/15 02:43:24 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/15 02:43:24 INFO: [Worker 0] Worker 0 completed house 1: 9/11 successful episodes	[pipeline.py: 1323]
+05/15 02:43:24 INFO: [Worker 0] [PROFILE] House 1 complete: 9/11 successful, 11 episodes, total_time=4306.99s
+  House averages:
+  episode_total: mean=131.95s, total=2375.03s, count=18, min=3512.4ms, max=227822.0ms
+  sensor_polling: mean=443.0ms, total=1653.90s, count=3733, min=395.9ms, max=1286.2ms
+  save_trajectories: mean=11.85s, total=106.61s, count=9, min=11146.3ms, max=13575.5ms
+  physics_step: mean=23.9ms, total=89.40s, count=3733, min=15.7ms, max=40.0ms
+  save_batch_prep: mean=5.31s, total=47.77s, count=9, min=4289.3ms, max=8358.3ms
+  task_specific_sample: mean=565.2ms, total=10.17s, count=18, min=292.2ms, max=1019.7ms
+  task_sampling: mean=585.8ms, total=9.96s, count=17, min=416.6ms, max=1023.8ms
+  task_sampling_failed: mean=4.41s, total=4.41s, count=1, min=4405.3ms, max=4405.3ms
+  scene_load: mean=4.11s, total=4.11s, count=1, min=4108.4ms, max=4108.4ms
+  scene_env_create: mean=2.54s, total=2.54s, count=1, min=2536.8ms, max=2536.8ms
+  scene_compile: mean=1.39s, total=1.39s, count=1, min=1390.6ms, max=1390.6ms
+  compile_mujoco: mean=901.7ms, total=901.7ms, count=1, min=901.7ms, max=901.7ms
+  compile_xml_load: mean=380.7ms, total=380.7ms, count=1, min=380.7ms, max=380.7ms
+  scene_init: mean=121.7ms, total=121.7ms, count=1, min=121.7ms, max=121.7ms
+  scene_asset_install: mean=58.8ms, total=58.8ms, count=1, min=58.8ms, max=58.8ms
+  compile_aux_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  compile_aux_policy_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  scene_randomize: mean=2.5ms, total=45.8ms, count=18, min=1.2ms, max=6.0ms
+  asset_install_grasps: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
+  compile_robot_add: mean=35.6ms, total=35.6ms, count=1, min=35.6ms, max=35.6ms
+  asset_install_objects: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms
+  mj_forward_sync: mean=497.3us, total=9.0ms, count=18, min=0.5ms, max=0.7ms
+  asset_install_scene: mean=5.2ms, total=5.2ms, count=1, min=5.2ms, max=5.2ms
+  policy_setup: mean=21.3us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/15 02:43:24 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 02:43:24 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4306.99s
+  Worker averages:
+  episode_total: mean=131.95s, total=2375.03s, count=18, min=3512.4ms, max=227822.0ms
+  sensor_polling: mean=443.0ms, total=1653.90s, count=3733, min=395.9ms, max=1286.2ms
+  save_trajectories: mean=11.85s, total=106.61s, count=9, min=11146.3ms, max=13575.5ms
+  physics_step: mean=23.9ms, total=89.40s, count=3733, min=15.7ms, max=40.0ms
+  save_batch_prep: mean=5.31s, total=47.77s, count=9, min=4289.3ms, max=8358.3ms
+  task_specific_sample: mean=565.2ms, total=10.17s, count=18, min=292.2ms, max=1019.7ms
+  task_sampling: mean=585.8ms, total=9.96s, count=17, min=416.6ms, max=1023.8ms
+  task_sampling_failed: mean=4.41s, total=4.41s, count=1, min=4405.3ms, max=4405.3ms
+  scene_load: mean=4.11s, total=4.11s, count=1, min=4108.4ms, max=4108.4ms
+  scene_env_create: mean=2.54s, total=2.54s, count=1, min=2536.8ms, max=2536.8ms
+  scene_compile: mean=1.39s, total=1.39s, count=1, min=1390.6ms, max=1390.6ms
+  compile_mujoco: mean=901.7ms, total=901.7ms, count=1, min=901.7ms, max=901.7ms
+  compile_xml_load: mean=380.7ms, total=380.7ms, count=1, min=380.7ms, max=380.7ms
+  scene_init: mean=121.7ms, total=121.7ms, count=1, min=121.7ms, max=121.7ms
+  scene_asset_install: mean=58.8ms, total=58.8ms, count=1, min=58.8ms, max=58.8ms
+  compile_aux_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  compile_aux_policy_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  scene_randomize: mean=2.5ms, total=45.8ms, count=18, min=1.2ms, max=6.0ms
+  asset_install_grasps: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
+  compile_robot_add: mean=35.6ms, total=35.6ms, count=1, min=35.6ms, max=35.6ms
+  asset_install_objects: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms
+  mj_forward_sync: mean=497.3us, total=9.0ms, count=18, min=0.5ms, max=0.7ms
+  asset_install_scene: mean=5.2ms, total=5.2ms, count=1, min=5.2ms, max=5.2ms
+  policy_setup: mean=21.3us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/15 02:43:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:43:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:43:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:43:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:43:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:43:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:43:28 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.663s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:43:28 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.530[deg]	[grasp_sample.py: 539]
+05/15 02:43:28 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 02:43:28 INFO: Success count: 9, Total count: 11	[pipeline.py: 1491]
+05/15 02:43:28 INFO: Success rate: 81.82%	[pipeline.py: 1492]
+05/15 02:43:29 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 02:43:31 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/15 02:43:31 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/15 02:43:31 INFO: [Worker 0] Worker 0 completed house 1: 9/10 successful episodes	[pipeline.py: 1323]
+05/15 02:43:31 INFO: [Worker 0] [PROFILE] House 1 complete: 9/10 successful, 10 episodes, total_time=4326.55s
+  House averages:
+  episode_total: mean=132.51s, total=2385.23s, count=18, min=221.3ms, max=233156.1ms
+  sensor_polling: mean=458.2ms, total=1662.49s, count=3628, min=371.1ms, max=1032.6ms
+  save_trajectories: mean=11.89s, total=106.99s, count=9, min=10953.8ms, max=13050.2ms
+  physics_step: mean=25.4ms, total=92.30s, count=3628, min=16.9ms, max=98.2ms
+  save_batch_prep: mean=4.95s, total=44.55s, count=9, min=4398.9ms, max=5968.0ms
+  task_sampling: mean=826.3ms, total=14.05s, count=17, min=457.8ms, max=5292.5ms
+  task_specific_sample: mean=537.3ms, total=9.67s, count=18, min=214.4ms, max=777.0ms
+  scene_load: mean=4.51s, total=4.51s, count=1, min=4511.4ms, max=4511.4ms
+  scene_env_create: mean=2.48s, total=2.48s, count=1, min=2476.7ms, max=2476.7ms
+  scene_compile: mean=1.84s, total=1.84s, count=1, min=1837.8ms, max=1837.8ms
+  compile_mujoco: mean=966.3ms, total=966.3ms, count=1, min=966.3ms, max=966.3ms
+  compile_xml_load: mean=743.7ms, total=743.7ms, count=1, min=743.7ms, max=743.7ms
+  task_sampling_failed: mean=221.3ms, total=221.3ms, count=1, min=221.3ms, max=221.3ms
+  scene_init: mean=122.2ms, total=122.2ms, count=1, min=122.2ms, max=122.2ms
+  scene_asset_install: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
+  compile_aux_objects: mean=74.2ms, total=74.2ms, count=1, min=74.2ms, max=74.2ms
+  compile_aux_policy_objects: mean=74.2ms, total=74.2ms, count=1, min=74.2ms, max=74.2ms
+  asset_install_grasps: mean=50.7ms, total=50.7ms, count=1, min=50.7ms, max=50.7ms
+  scene_randomize: mean=2.3ms, total=41.9ms, count=18, min=1.2ms, max=3.7ms
+  compile_robot_add: mean=36.5ms, total=36.5ms, count=1, min=36.5ms, max=36.5ms
+  asset_install_objects: mean=17.0ms, total=17.0ms, count=1, min=17.0ms, max=17.0ms
+  mj_forward_sync: mean=697.2us, total=12.5ms, count=18, min=0.4ms, max=3.6ms
+  asset_install_scene: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
+  policy_setup: mean=30.4us, total=0.5ms, count=17, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/15 02:43:31 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 02:43:31 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=4326.55s
+  Worker averages:
+  episode_total: mean=132.51s, total=2385.23s, count=18, min=221.3ms, max=233156.1ms
+  sensor_polling: mean=458.2ms, total=1662.49s, count=3628, min=371.1ms, max=1032.6ms
+  save_trajectories: mean=11.89s, total=106.99s, count=9, min=10953.8ms, max=13050.2ms
+  physics_step: mean=25.4ms, total=92.30s, count=3628, min=16.9ms, max=98.2ms
+  save_batch_prep: mean=4.95s, total=44.55s, count=9, min=4398.9ms, max=5968.0ms
+  task_sampling: mean=826.3ms, total=14.05s, count=17, min=457.8ms, max=5292.5ms
+  task_specific_sample: mean=537.3ms, total=9.67s, count=18, min=214.4ms, max=777.0ms
+  scene_load: mean=4.51s, total=4.51s, count=1, min=4511.4ms, max=4511.4ms
+  scene_env_create: mean=2.48s, total=2.48s, count=1, min=2476.7ms, max=2476.7ms
+  scene_compile: mean=1.84s, total=1.84s, count=1, min=1837.8ms, max=1837.8ms
+  compile_mujoco: mean=966.3ms, total=966.3ms, count=1, min=966.3ms, max=966.3ms
+  compile_xml_load: mean=743.7ms, total=743.7ms, count=1, min=743.7ms, max=743.7ms
+  task_sampling_failed: mean=221.3ms, total=221.3ms, count=1, min=221.3ms, max=221.3ms
+  scene_init: mean=122.2ms, total=122.2ms, count=1, min=122.2ms, max=122.2ms
+  scene_asset_install: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
+  compile_aux_objects: mean=74.2ms, total=74.2ms, count=1, min=74.2ms, max=74.2ms
+  compile_aux_policy_objects: mean=74.2ms, total=74.2ms, count=1, min=74.2ms, max=74.2ms
+  asset_install_grasps: mean=50.7ms, total=50.7ms, count=1, min=50.7ms, max=50.7ms
+  scene_randomize: mean=2.3ms, total=41.9ms, count=18, min=1.2ms, max=3.7ms
+  compile_robot_add: mean=36.5ms, total=36.5ms, count=1, min=36.5ms, max=36.5ms
+  asset_install_objects: mean=17.0ms, total=17.0ms, count=1, min=17.0ms, max=17.0ms
+  mj_forward_sync: mean=697.2us, total=12.5ms, count=18, min=0.4ms, max=3.6ms
+  asset_install_scene: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
+  policy_setup: mean=30.4us, total=0.5ms, count=17, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/15 02:43:31 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:43:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/15 02:43:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:43:34 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 02:43:34 INFO: Success count: 9, Total count: 10	[pipeline.py: 1491]
+05/15 02:43:34 INFO: Success rate: 90.00%	[pipeline.py: 1492]
+05/15 02:43:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:43:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:43:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.03s (batch: 4.46s, save: 11.57s)	[pipeline.py: 300]
+05/15 02:43:48 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.53s:
+  episode_total: mean=199.37s, total=199.37s, count=1, min=199374.7ms, max=199374.7ms
+  sensor_polling: mean=471.5ms, total=141.46s, count=300, min=412.7ms, max=979.0ms
+  save_trajectories: mean=11.57s, total=11.57s, count=1, min=11566.7ms, max=11566.7ms
+  physics_step: mean=28.4ms, total=8.52s, count=300, min=21.6ms, max=59.8ms
+  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4463.9ms, max=4463.9ms
+  task_sampling: mean=525.8ms, total=525.8ms, count=1, min=525.8ms, max=525.8ms
+  task_specific_sample: mean=521.9ms, total=521.9ms, count=1, min=521.9ms, max=521.9ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=468.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:43:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:43:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:43:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:43:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:43:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:43:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:43:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:43:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:43:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062480m	[env.py: 870]
+05/15 02:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:43:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.37035929  0.03881645  0.06248044] yaw=-153.3deg	[env.py: 1019]
+05/15 02:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.01637484 -1.31153681  0.06248044] yaw=178.8deg	[env.py: 1019]
+05/15 02:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 127.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.19730381 -0.80211267  0.06248044] yaw=-176.8deg	[env.py: 1019]
+05/15 02:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/15 02:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:43:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.4ms, total=189.4ms	[env.py: 1075]
+05/15 02:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.370, 0.039, 0.062)	[env.py: 1079]
+05/15 02:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.3 deg	[env.py: 1082]
+05/15 02:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.107m	[env.py: 1086]
+05/15 02:43:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:43:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:43:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:43:50 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:43:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:43:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:43:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:43:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:43:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.592s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:43:53 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:43:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:43:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:43:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:43:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:43:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:43:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:43:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:43:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:43:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065903m	[env.py: 870]
+05/15 02:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:43:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.00349065 -0.67376779  0.06590263] yaw=-161.1deg	[env.py: 1019]
+05/15 02:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.06985773 -0.16074401  0.06590263] yaw=-133.4deg	[env.py: 1019]
+05/15 02:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/15 02:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:43:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=207.5ms, total=207.6ms	[env.py: 1075]
+05/15 02:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.003, -0.674, 0.066)	[env.py: 1079]
+05/15 02:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.1 deg	[env.py: 1082]
+05/15 02:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m	[env.py: 1086]
+05/15 02:43:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:43:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:43:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:43:56 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:43:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:43:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:43:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:43:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:43:56 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/15 02:43:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.466s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:43:58 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.754[m] 82.479[deg]	[grasp_sample.py: 539]
+05/15 02:43:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/15 02:43:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/15 02:43:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:44:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/15 02:44:26 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/15 02:44:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/15 02:44:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/15 02:44:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/15 02:44:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2/sim_chunks/chunk_007	[save_utils.py: 785]
+05/15 02:44:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.27s (batch: 4.39s, save: 10.87s)	[pipeline.py: 300]
+05/15 02:44:42 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.54s:
+  episode_total: mean=202.26s, total=202.26s, count=1, min=202255.8ms, max=202255.8ms
+  sensor_polling: mean=468.1ms, total=140.43s, count=300, min=400.6ms, max=947.4ms
+  save_trajectories: mean=10.87s, total=10.87s, count=1, min=10875.0ms, max=10875.0ms
+  physics_step: mean=26.5ms, total=7.95s, count=300, min=17.0ms, max=35.9ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4393.0ms, max=4393.0ms
+  task_sampling: mean=543.6ms, total=543.6ms, count=1, min=543.6ms, max=543.6ms
+  task_specific_sample: mean=539.3ms, total=539.3ms, count=1, min=539.3ms, max=539.3ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=536.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/15 02:44:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:44:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:44:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:44:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:44:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:44:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:44:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:44:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:44:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:44:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:44:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004730m	[env.py: 870]
+05/15 02:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:44:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 127.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.05323461 -0.64950326 -0.00472995] yaw=-165.5deg	[env.py: 1019]
+05/15 02:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:44:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=318.1ms, total=318.2ms	[env.py: 1075]
+05/15 02:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.053, -0.650, -0.005)	[env.py: 1079]
+05/15 02:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.5 deg	[env.py: 1082]
+05/15 02:44:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.140m	[env.py: 1086]
+05/15 02:44:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:44:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:44:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:44:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:44:44 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:44:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:44:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:44:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:44:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:44:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.747s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:44:47 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:44:49 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/15 02:44:49 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/15 02:44:49 INFO: [Worker 0] Worker 0 completed house 1: 9/12 successful episodes	[pipeline.py: 1323]
+05/15 02:44:49 INFO: [Worker 0] [PROFILE] House 1 complete: 9/12 successful, 12 episodes, total_time=4439.28s
+  House averages:
+  episode_total: mean=136.87s, total=2463.69s, count=18, min=3416.1ms, max=204675.5ms
+  sensor_polling: mean=447.2ms, total=1704.12s, count=3811, min=384.6ms, max=1033.2ms
+  save_trajectories: mean=11.34s, total=102.10s, count=9, min=9391.9ms, max=12680.2ms
+  physics_step: mean=25.2ms, total=96.16s, count=3811, min=15.1ms, max=58.2ms
+  save_batch_prep: mean=4.44s, total=39.96s, count=9, min=3545.9ms, max=5185.8ms
+  task_sampling: mean=757.3ms, total=13.63s, count=18, min=388.7ms, max=4981.0ms
+  task_specific_sample: mean=514.2ms, total=9.26s, count=18, min=385.5ms, max=779.2ms
+  scene_load: mean=4.30s, total=4.30s, count=1, min=4301.8ms, max=4301.8ms
+  scene_env_create: mean=2.51s, total=2.51s, count=1, min=2506.3ms, max=2506.3ms
+  scene_compile: mean=1.60s, total=1.60s, count=1, min=1602.3ms, max=1602.3ms
+  compile_mujoco: mean=959.7ms, total=959.7ms, count=1, min=959.7ms, max=959.7ms
+  compile_xml_load: mean=532.2ms, total=532.2ms, count=1, min=532.2ms, max=532.2ms
+  scene_init: mean=129.0ms, total=129.0ms, count=1, min=129.0ms, max=129.0ms
+  scene_asset_install: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms
+  compile_aux_objects: mean=62.3ms, total=62.3ms, count=1, min=62.3ms, max=62.3ms
+  compile_aux_policy_objects: mean=62.3ms, total=62.3ms, count=1, min=62.3ms, max=62.3ms
+  asset_install_grasps: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
+  scene_randomize: mean=2.3ms, total=42.0ms, count=18, min=1.2ms, max=3.1ms
+  compile_robot_add: mean=36.1ms, total=36.1ms, count=1, min=36.1ms, max=36.1ms
+  asset_install_objects: mean=14.7ms, total=14.7ms, count=1, min=14.7ms, max=14.7ms
+  mj_forward_sync: mean=527.7us, total=9.5ms, count=18, min=0.4ms, max=0.8ms
+  asset_install_scene: mean=4.3ms, total=4.3ms, count=1, min=4.3ms, max=4.3ms
+  policy_setup: mean=23.9us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/15 02:44:49 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 02:44:49 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=4439.28s
+  Worker averages:
+  episode_total: mean=136.87s, total=2463.69s, count=18, min=3416.1ms, max=204675.5ms
+  sensor_polling: mean=447.2ms, total=1704.12s, count=3811, min=384.6ms, max=1033.2ms
+  save_trajectories: mean=11.34s, total=102.10s, count=9, min=9391.9ms, max=12680.2ms
+  physics_step: mean=25.2ms, total=96.16s, count=3811, min=15.1ms, max=58.2ms
+  save_batch_prep: mean=4.44s, total=39.96s, count=9, min=3545.9ms, max=5185.8ms
+  task_sampling: mean=757.3ms, total=13.63s, count=18, min=388.7ms, max=4981.0ms
+  task_specific_sample: mean=514.2ms, total=9.26s, count=18, min=385.5ms, max=779.2ms
+  scene_load: mean=4.30s, total=4.30s, count=1, min=4301.8ms, max=4301.8ms
+  scene_env_create: mean=2.51s, total=2.51s, count=1, min=2506.3ms, max=2506.3ms
+  scene_compile: mean=1.60s, total=1.60s, count=1, min=1602.3ms, max=1602.3ms
+  compile_mujoco: mean=959.7ms, total=959.7ms, count=1, min=959.7ms, max=959.7ms
+  compile_xml_load: mean=532.2ms, total=532.2ms, count=1, min=532.2ms, max=532.2ms
+  scene_init: mean=129.0ms, total=129.0ms, count=1, min=129.0ms, max=129.0ms
+  scene_asset_install: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms
+  compile_aux_objects: mean=62.3ms, total=62.3ms, count=1, min=62.3ms, max=62.3ms
+  compile_aux_policy_objects: mean=62.3ms, total=62.3ms, count=1, min=62.3ms, max=62.3ms
+  asset_install_grasps: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
+  scene_randomize: mean=2.3ms, total=42.0ms, count=18, min=1.2ms, max=3.1ms
+  compile_robot_add: mean=36.1ms, total=36.1ms, count=1, min=36.1ms, max=36.1ms
+  asset_install_objects: mean=14.7ms, total=14.7ms, count=1, min=14.7ms, max=14.7ms
+  mj_forward_sync: mean=527.7us, total=9.5ms, count=18, min=0.4ms, max=0.8ms
+  asset_install_scene: mean=4.3ms, total=4.3ms, count=1, min=4.3ms, max=4.3ms
+  policy_setup: mean=23.9us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/15 02:44:51 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 02:44:51 INFO: Success count: 9, Total count: 12	[pipeline.py: 1491]
+05/15 02:44:51 INFO: Success rate: 75.00%	[pipeline.py: 1492]
+05/15 02:45:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:45:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/15 02:45:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/15 02:46:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:46:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:46:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:46:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:46:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:46:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:46:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:46:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/15 02:46:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/15 02:46:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/15 02:46:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:46:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:46:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:46:19 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.786s, found feasible grasp: True	[grasp_sample.py: 500]
+05/15 02:46:19 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.030[m] 0.485[deg]	[grasp_sample.py: 539]
+05/15 02:46:21 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/15 02:46:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/15 02:46:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/15 02:46:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/15 02:46:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:46:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:46:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/15 02:46:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/15 02:46:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/15 02:46:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/15 02:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/15 02:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/15 02:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020815m	[env.py: 870]
+05/15 02:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/15 02:46:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/15 02:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/15 02:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 132.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/15 02:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.10336646 -0.72555468 -0.0208151 ] yaw=-197.1deg	[env.py: 1019]
+05/15 02:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/15 02:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/15 02:46:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=185.9ms, total=185.9ms	[env.py: 1075]
+05/15 02:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.103, -0.726, -0.021)	[env.py: 1079]
+05/15 02:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -197.1 deg	[env.py: 1082]
+05/15 02:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.181m	[env.py: 1086]
+05/15 02:46:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/15 02:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/15 02:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/15 02:46:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/15 02:46:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/15 02:46:23 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/15 02:46:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/15 02:46:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/15 02:46:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/15 02:46:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/15 02:46:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.850s, found feasible grasp: False	[grasp_sample.py: 500]
+05/15 02:46:26 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/15 02:46:27 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/15 02:46:27 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/15 02:46:27 INFO: [Worker 0] Worker 0 completed house 1: 11/12 successful episodes	[pipeline.py: 1323]
+05/15 02:46:27 INFO: [Worker 0] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=4607.11s
+  House averages:
+  episode_total: mean=142.20s, total=2559.61s, count=18, min=316.6ms, max=230006.2ms
+  sensor_polling: mean=446.2ms, total=1731.29s, count=3880, min=368.9ms, max=1000.0ms
+  save_trajectories: mean=11.68s, total=128.50s, count=11, min=11102.3ms, max=12628.9ms
+  physics_step: mean=25.8ms, total=100.05s, count=3880, min=15.4ms, max=73.5ms
+  save_batch_prep: mean=4.75s, total=52.24s, count=11, min=4120.6ms, max=6772.4ms
+  task_sampling: mean=843.1ms, total=14.33s, count=17, min=408.8ms, max=5276.0ms
+  task_specific_sample: mean=567.1ms, total=10.21s, count=18, min=309.2ms, max=909.0ms
+  scene_load: mean=4.36s, total=4.36s, count=1, min=4363.1ms, max=4363.1ms
+  scene_env_create: mean=2.49s, total=2.49s, count=1, min=2492.5ms, max=2492.5ms
+  scene_compile: mean=1.67s, total=1.67s, count=1, min=1674.5ms, max=1674.5ms
+  compile_mujoco: mean=928.9ms, total=928.9ms, count=1, min=928.9ms, max=928.9ms
+  compile_xml_load: mean=641.1ms, total=641.1ms, count=1, min=641.1ms, max=641.1ms
+  task_sampling_failed: mean=316.6ms, total=316.6ms, count=1, min=316.6ms, max=316.6ms
+  scene_init: mean=125.8ms, total=125.8ms, count=1, min=125.8ms, max=125.8ms
+  scene_asset_install: mean=69.8ms, total=69.8ms, count=1, min=69.8ms, max=69.8ms
+  compile_aux_objects: mean=55.6ms, total=55.6ms, count=1, min=55.6ms, max=55.6ms
+  compile_aux_policy_objects: mean=55.6ms, total=55.6ms, count=1, min=55.6ms, max=55.6ms
+  asset_install_grasps: mean=49.5ms, total=49.5ms, count=1, min=49.5ms, max=49.5ms
+  scene_randomize: mean=2.4ms, total=43.1ms, count=18, min=1.2ms, max=3.2ms
+  compile_robot_add: mean=35.7ms, total=35.7ms, count=1, min=35.7ms, max=35.7ms
+  asset_install_objects: mean=15.5ms, total=15.5ms, count=1, min=15.5ms, max=15.5ms
+  mj_forward_sync: mean=509.8us, total=9.2ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=4.7ms, total=4.7ms, count=1, min=4.7ms, max=4.7ms
+  policy_setup: mean=26.8us, total=0.5ms, count=17, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/15 02:46:28 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/15 02:46:28 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=4607.11s
+  Worker averages:
+  episode_total: mean=142.20s, total=2559.61s, count=18, min=316.6ms, max=230006.2ms
+  sensor_polling: mean=446.2ms, total=1731.29s, count=3880, min=368.9ms, max=1000.0ms
+  save_trajectories: mean=11.68s, total=128.50s, count=11, min=11102.3ms, max=12628.9ms
+  physics_step: mean=25.8ms, total=100.05s, count=3880, min=15.4ms, max=73.5ms
+  save_batch_prep: mean=4.75s, total=52.24s, count=11, min=4120.6ms, max=6772.4ms
+  task_sampling: mean=843.1ms, total=14.33s, count=17, min=408.8ms, max=5276.0ms
+  task_specific_sample: mean=567.1ms, total=10.21s, count=18, min=309.2ms, max=909.0ms
+  scene_load: mean=4.36s, total=4.36s, count=1, min=4363.1ms, max=4363.1ms
+  scene_env_create: mean=2.49s, total=2.49s, count=1, min=2492.5ms, max=2492.5ms
+  scene_compile: mean=1.67s, total=1.67s, count=1, min=1674.5ms, max=1674.5ms
+  compile_mujoco: mean=928.9ms, total=928.9ms, count=1, min=928.9ms, max=928.9ms
+  compile_xml_load: mean=641.1ms, total=641.1ms, count=1, min=641.1ms, max=641.1ms
+  task_sampling_failed: mean=316.6ms, total=316.6ms, count=1, min=316.6ms, max=316.6ms
+  scene_init: mean=125.8ms, total=125.8ms, count=1, min=125.8ms, max=125.8ms
+  scene_asset_install: mean=69.8ms, total=69.8ms, count=1, min=69.8ms, max=69.8ms
+  compile_aux_objects: mean=55.6ms, total=55.6ms, count=1, min=55.6ms, max=55.6ms
+  compile_aux_policy_objects: mean=55.6ms, total=55.6ms, count=1, min=55.6ms, max=55.6ms
+  asset_install_grasps: mean=49.5ms, total=49.5ms, count=1, min=49.5ms, max=49.5ms
+  scene_randomize: mean=2.4ms, total=43.1ms, count=18, min=1.2ms, max=3.2ms
+  compile_robot_add: mean=35.7ms, total=35.7ms, count=1, min=35.7ms, max=35.7ms
+  asset_install_objects: mean=15.5ms, total=15.5ms, count=1, min=15.5ms, max=15.5ms
+  mj_forward_sync: mean=509.8us, total=9.2ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=4.7ms, total=4.7ms, count=1, min=4.7ms, max=4.7ms
+  policy_setup: mean=26.8us, total=0.5ms, count=17, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/15 02:46:30 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/15 02:46:30 INFO: Success count: 11, Total count: 12	[pipeline.py: 1491]
+05/15 02:46:30 INFO: Success rate: 91.67%	[pipeline.py: 1492]
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