diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f7e5267873c27aaee4c4788b5baa6e6a9763284
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8e3c89bb8a04d318baa0de4633bdbcc9f5291a0dd023b03cf3ff57067901293
+size 709025
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f1a6fb156aee25a101601aedefdd79823a5c6a5d
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:052eac034c3edbe0962b05d796d8386affc42026ca859b1cf5ca94ee35a5b2b8
+size 647775
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f746e11f80733e34a523d84010ede5bec820fcdb
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d68bdcf106130f02f877e8b3061c874662dc2b1babf582883926447d640b5421
+size 670983
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f9265d9510a59afaed8920c7b7ba228ecc7593e2
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6def27da0a473eabb26503be0bdd90bc31c8173e9081a20e1ec0a3d59e425c15
+size 542805
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fdb747f3217746e7d9509a18426ba7402da0fe67
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f88d6906ad50359b69ce6635836e92ff77012cdc63f0a59c6b3b26ec26b646bc
+size 486810
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ef8f2a918065cfb068c892fc7bfb1fd8715e69f
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c69e79ea5570415d662532f58a92b428ae6de03cdac0dc9fe0a34cc52ba556e
+size 554847
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bf531a6eabf63d987b92c9c65b72ed234f772335
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d6d416770ee80bf576b032c492ddf0c03cff81dc7c876093954b333f71d96ef
+size 520491
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..acee206e70cb970c32709c22934a49b1f92236d4
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0616111a4ba22bcfd5e69363756f5ebcd9ce93c96e655d7ceb27a041e87b8b88
+size 443526
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..29367900c4ee79b241d10df186df1d40506f112a
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba69ba174e8a657a30f076ac24818159db4315cd7e50c48a85640e02c225bc2c
+size 826223
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8788488fa45a0efec629069ce9dcb7c904937e41
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:997ba3d0b33ccb0e117ce2ab5f804f925c4b637b0c98978bfec2aed21361743a
+size 617289
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5a6b9a8a00ad9d731bb32faa242ca7007f1af03e
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c828f8a0c73f48983dc7114d2f8d538225335b0071d30f48ef4ff505161847e6
+size 1057146
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6907b0861f7b26ccd18da6f8e749cdc825306f19
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0c5dd9116bf0e4ce8e52bdf51a3c2b0cc7083450a17651dbc57761a1f990c16
+size 860968
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..920c1054b45a158411b632a83a742503e3053682
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ce80d1062d799944828c2c5ed3858cbbd76148caf0eb39f9f930467b6e90470
+size 113590
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e448e27ea4995c3d0868f6d651623ebb780de984
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afc1b7840a044b06a5c12bae05e453f3be7b748ee7bd45e3ceaf021db6397e5f
+size 364288
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ad2958c5181b3af5b879b99d198163d81539160
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d7c889bdccb506788b1ac17a12e5b3c698c9cef9ffeeddb0fc11205b2c3a846
+size 182284
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_seg_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_seg_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..13c97b39dc6ea36e41324137f65dc3b8ba05e4f8
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_seg_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:942b0f5d601cfa113d730c588b3189ff6f47d80ee63e91cc1d917a9e1f16b006
+size 377036
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_seg_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_seg_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f6a56e80c57a00d87ee81c08871f977eea7ec7f7
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_seg_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:693507cac64cf2735a1a2d76286d4fb87867a823d51085e16a7d4090a1794ec3
+size 477095
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_seg_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_seg_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bbcc86a96dbfe92f29d2b0beb18011c0a242d9ee
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000000_wrist_camera_seg_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e60ed81dcbcb9654dc53f0cd1ed73b6825e381161a3d0b133bdc59ae52197bb
+size 545737
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..80c4e4dc79c5746d715cdd145e89fb31e2f32896
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63a7095e0eb72aae92ac12ca91197348ca46a2b807dc1269c5e6622a786978b0
+size 651385
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a8abd4630101eee71e6b865a8a4cda9fc4686800
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ca4c3af116eda17a2d7e3cc5d7fa2094b7b6da3717d15b1c49c34f276775812
+size 782126
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3177727a4aa1de713298345983312632eda01ac4
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:298f09d3f1e480bad361e464715a5abae0023a5487b470e0ee3f203e672a356b
+size 710226
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..18bd2718792dcb454bdccfd989ed91e1dcde7832
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0544b87072fbadc34fc61423a0e1a8e67bc08379797ff3d128c26e0aff44cb5
+size 498361
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b8d7b482213447ad7651680d286e6f2dc41323d9
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b03a17529c4e969f17e2cae413a793c40da5247f11e3b1b4132d9cfb48206ea
+size 625665
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e9c1c94d8f0c8a4fbfee6d6652b7dd65f4eeff2c
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4be1a80afa5445db8c90d5cbbbb0951d025df7374b33bdf38b6f624f1cf86c9
+size 595789
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d75d4cf031f40d1e09b29e7e83917ffb72d5a2b7
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81878fbdd0c2fa565c9c2c8f21b29adc4e07bc9d81ddcee8624e9a5604e52c88
+size 584733
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..69a675413f00031477e1e9a1f5c2c7a6c14399ab
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0784384fd2671979ea461098419c2d1e173acd84c4f1fce50820ddaf15effd3f
+size 647027
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..104e6347b9ebe3033dfc8ab10ea0fae5879ab615
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ad6cfe3c1aca3bc97aea3de3cdceb8a8574def0b2e888bd6694e9ddf1b95754
+size 796653
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..60e24e957e98a27620fff7105f4c254da9e2adb6
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e04235b4574c98c94a37cda43a550903c9d98862b81b58c8d0edfa469863fbb9
+size 902240
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a3ae9701b2d0ae7d10998481635ae4fc46c59485
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9bed96ce1641021e7d5bb8747340975906a91eb2487c7420a0934b1e7a07a96
+size 623730
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a6f00e7ed5964077a2a87c46582b10537103fe49
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7cb01a08fd199758ae4c50f80b9f1667861cce5389bd8c248d355d8f2c5dece
+size 833057
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..634f2d3eed064aa2d76daf8b16a7e093ff780418
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36d8165f32276c8d516f6879c04cca64994e9b7635faf53e893ec301eda91ff4
+size 230670
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..422bbf057e6561f4995e0305e0e18b79538ffc87
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e782632a6f1cf8f4d5c91e36a0d6a177f7c9af0db14ec0dc64be32de8dc4a7e3
+size 93327
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..72a7cd987330481b0577ce8b32857e602d553a2c
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a35f0b4af1939aab7d9c31d58b4fc207e1e2ca599e7273dadaed3b6e4fa576b
+size 186553
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_seg_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_seg_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0b3d80d2ed7534c4275d71c734b23e488b22e806
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_seg_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e5ecf13bc50d24d201f0a26900b84ba87e93b6364a068780c54db13408d63eb
+size 424513
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_seg_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_seg_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c4bb799dd2b5cf34bcfbdad8295ce460fa7d1489
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_seg_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b1bbb000d69883c3187f874a6d02566432d4c281e4fdc6febdff0395150b858
+size 427095
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_seg_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_seg_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..61a403251cbc7d8570cebcf122360813f337446a
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000001_wrist_camera_seg_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a43c9d9c61b0c4662cc71ccfdfdef928005202fb802442a1a07bdfdef058af84
+size 419607
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..197ab72e42c1809524359b38733372984e7f637f
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b23d831a344a0a973f84cc294506139a96e5e9a31e3d6b0c1e06c7fbc27c2ac6
+size 746178
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f3a5ed12345ea3ec3ccfb5647db160a97897cb60
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ec4045ece90c13e36715f1b61610585a98be011f2e84a4cce170eccfbc4a22d
+size 708194
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b653b6a80476395fd9ccd963b91911177ce38e3f
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdb68c71d275450c2235c4c05973ddac9e1b51cfade952c4c5e74e975df77909
+size 692169
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a353ceed41e76999979babc175d2a3d17894f8fe
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85fd41957bc3df0ec2f68743a95948d9f9549358c5b31c19c379873bfda5a3be
+size 608040
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d568914e42d62239ac83e9d6a82e0a4a498f22c3
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53622f720203f167cabcd4e11992cdc8d504cca61c0df88f9b99bd2ded35f5bd
+size 565640
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf492f21232965d58a51546b8199d386f0ba9314
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:007574edc7d5235962c8484caee8d1cffc1b4df43661ef91272a939709a6c5b5
+size 522966
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8dbdf76bb5c80f030cd9f62ba6d4294ca92ffc19
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ced9643d2b1a357566f789a7783a09e832349767d0065c9bc8d797a41d428c7
+size 863873
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..28cac84cf120c1a707abdbee82e76761c8940f0e
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5cd3e4209ab8d6f83722d3aadf8df7f9f74e710703a33384f032e8d093eb59f
+size 892391
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..96fbd3b25ac8af655204170b1b08182cd7353329
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e102d91bb773fb9a5c73e903f1529549d3e12fe3b97316455453b978742882b
+size 693796
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cc504301a9ab6204d7e1e284db0e71d906f8e238
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c159ff3747786d7b0ef5ce9814df85ccadb1c19a0ed6673fe82fac5e19679865
+size 950128
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c6967f717547c48a370089ddf6a8e7e779211620
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb4396644be26a902525e84b07717a21ecbbfda387c31afcab9ea74c1e2e1c9e
+size 858945
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c0c36415d9daf003163f5b33a932b5f4e9c2528e
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46b833407efcbc9ddaaf36cfb132e9cb712a2e339039c713d099bdbc751af5a9
+size 615287
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b5acfda05a77ff6747697be9a5586919273d013
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:308e3a5319ee9fe0cb4b84645ddfa32014949ce1c5fdbfa6b486a0ccd666a0f9
+size 236349
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..556958b9c06ea76173063cb1da199a0c4156b03b
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d336a7ac97e7142ca2affdf7501a15fd725a1efdc25c274fc95677299ca4174a
+size 184835
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..20ab391ac156163a5a4f9038d848f38b2a3488e9
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1e783b0b84d964e09f7ed1a943fa08320d413d9dec49ba09ef0a97b9952a24f
+size 116386
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_seg_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_seg_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed3d3b19cb032e1631a5cd62619281ce51eddbd4
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_seg_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9a4f5e413884a85f6845267cdb4bec107fd52b5f36af5a96daa48a1b453d845
+size 304711
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_seg_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_seg_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f2f689c53ea9143eec4524c370081df1da9ed29f
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_seg_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c30cee64644b4fe2a24cfaed49689734ad97ab60b63428c467e189c75bb5d9b0
+size 315289
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_seg_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_seg_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f2ddea24d668f83b7f75f4fe84f3a983e861268f
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000002_wrist_camera_seg_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08ec348c9f29c75833ce9ec407b6a6b82d1be792aa759ce8a3e9e59e11c0be84
+size 270051
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2baf6b832ab962b6ce51d6436627a68caf78afca
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ca7771208bb81fb2bd7da7180108a4a00ea8b98291d60ba34b235e5ec5c7e84
+size 598068
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f26e8e3da47efb4e86cb484244f75b4cb365c04f
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a63598d3e73870dc466feecf4175f57e2ae8769c0e10718eb2056d0d22a4e88
+size 887045
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ae6d084e946f6bbaf18aeeb838ef3b147e7d8ca6
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2920e2fa861cb3877f9cebfef60d8af79e0913f439658386f42a3d0e7ec5a97f
+size 727777
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e116be58d9812c13bcc69e36ee95730644a73c16
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1614b26896fb30411e81172bf7cdb0b1e87eb7054ee6cd5a525ea0583e2e470c
+size 484220
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d374feeaab738c666aa1579f29bf3be07bb1ecda
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:773d78cabbe875570a9b7ffdc7446f33dce53d8c0dec86440129bc27ed287919
+size 729189
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f22249f0e586d02487867dd851ec3ee90e649ba2
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:773010db1e4dacbf4f73b960e0fcccf661f9a4a9b777f289f9430ab9ec157256
+size 619758
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dd66dc8578b50baf068a8e4faa4dd04679125b0b
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:463adbbaa11cde37e87781a693c2330106dfe21d70f2e84a76dc2d29b1e4db7a
+size 603432
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f5476d75246d1e45445ec4e59c484e03f243214
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14731951eba3a1eb5290e7db99d05e7ecd39642e9593ca69c1485c4483de606a
+size 642750
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..52ab3ed9d64a93e5edf5a7d7f0728345c65674f8
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f08c8a6bde98f64c513c69566580efbd9161525652ea709c82d964ebcd808a72
+size 663703
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..562256487c291948220f540dc97d6d3e1bba2392
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2aa8604586fe3325f43eb11232658c56a05cd70951362f17bfec93baa0249b7
+size 1158691
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b087c9ddf8dfeff0db46d9af0a9d511b7c1cb992
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b95e3100b1f9d24e2d0cecae730575df2d17c9c81f12dc994d4da52f4b16834
+size 589508
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b64c749f53b6c19f543fece2ef8637e9f31e9fe2
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:660554edc0a3c81bdf5aa99f6bc4a0f5be015ee34b8048975bec0f45e642c255
+size 619871
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..126c5ded5317c1f721db77cec883ff6f384a1f27
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5aef1047e3e2be02062aaec40c0c2f4736ccd21c976ae054dcccf52ae3e96199
+size 381386
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..df72b29c8f45f684f9836e8f9306ff4ebacd2cf9
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:497b22ec88c0975de9ac60e8ab4abd1f6b493d949d257e326bd5178835dd7bca
+size 135894
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..81b983e7b93af389c057ac17ed584b83d7688663
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1808eb792ecb497e3ecd2d4b084433afa759d4d7f1a3ee1b838a13baf879bb6
+size 129887
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_seg_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_seg_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..02dd731bba6dfc20ece4ff8e000f881467c2b7d7
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_seg_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdc851184133fca1f5fd2d98fcf9eb87b93d1f8234a4fa92fe7905776e6f9017
+size 428311
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_seg_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_seg_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..46436791f44c8bfec96709462983d9b66fdd2f27
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_seg_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03eb9b28baf13e682365f0ad8cc0a710cb12d8ffe8cb1a56cf52530f001c76c2
+size 384891
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_seg_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_seg_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ff3e80f82e1dc99fe63978155a353c51b2bb7435
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000003_wrist_camera_seg_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48f5ba03de3eafb7f10ca655e2292526d39ea907750ab669a771a0a8cb047f0b
+size 370572
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65d5256343e51ccc675568276e3e65abf45a0117
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52dfd9e90f76ebf6933d27918a646b8eb572c1c3f80483dc2a9291ec9b7e4081
+size 748229
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..23a86e0300b258e643f911da66b840b4742bdebc
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75f00934c981ca984797581aa403e34450b5b76b22506f87febc9b3ab9962e6b
+size 754930
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e6ecd6de7780063d5792b24f0878f3f54fbcb891
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd5175cbd51b86560cd91260bd19e8877df8e101ac6d5b2a3cd5c535ea113cd1
+size 785915
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..33156997a0a7deaf6ca030af42e8b0c78de94c80
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:793596f801b131f334ff8766b2cb3db9a09ffa330d1698973f19209d95edef2a
+size 604009
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..23e078ce3112834cac882644181fd2f414c18e49
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ede3b6167adbb27596f27924a7c3b36c3333c8b34a9938ca7d4fe555dbc000dc
+size 616588
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b20d98ed6010083ac5cd066efb0c01c400936190
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bdde930ca8414ce723cdeb2c8bfbf16ae9f7573504eeb7f113e5baa313e808d
+size 615916
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fe47d692dc1b4d3cc6c0b3fd4840cf2bd765c21c
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bd2b6b5932e71f5a0b2a8161637e4c35c6bd527b70f1415c2db1200b40aa1ee
+size 606237
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..71b9338bde6b8926d76e07d9e0d31c368da23d19
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8df6fb13623e4f8ac4cc1206f2887207f2e746292f22f0501cec1f393779ae5b
+size 634095
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c2760b905a1ee95e8e7e75a2a1e72e4f4c44c005
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c890718211aff203020bed6242f25c45efa76a16ad88f136d1b4995d3d422633
+size 548768
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d50a86d58a2c221947bdc79965c39eb90af14425
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6c20d7e7d2b3646a52a3d7703639c20d90f35a3b629882215628cb3cee99cd9
+size 773178
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d162f46be18125f1425aa2cf7ad9911e19305876
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94b2fccac7b5673b0d6510a3a20ff3af6389535230abfa8a8589c1fc8a65de0e
+size 797799
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..32c16c89f635dac2a22609f408388cdce5559174
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d8d926ec17ea5bdb75c675b63decd0eaa2e6c8f7cb39718437b39cbc7f6134e
+size 599327
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee8fbdb10bfebc2b567f56defb0620194c04c3e3
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebf15ad1824a6d8498457d44e942f5380ca5de433e4540794418fbb83b4f88aa
+size 180168
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c7416da971f60513fb5487ef9a65303a77a999fa
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f080c5c1daa76293041e87cc8292a2144c539168f7383b1cc6c8fccfe7cb1f6c
+size 112459
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..471b9454f8dd7bc8546e1c56680d1477538080b5
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f6c9c32c965c76e0eaf83463735b31a6fda3d342c3f09f9d246875503a90afc
+size 116171
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_seg_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_seg_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..271a29e2bf71fdae0512e6407169e3d7af2be1c5
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_seg_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9abebc3acb8c5a6c8e217cf7e7e10d5250d537fc23c43ed9329d321383eecab6
+size 428207
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_seg_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_seg_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..81c20cf25e9c7ff28dd82db3696f5918002630e5
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_seg_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:889dec77c40641be2f4ebd0289afbcc56c898c0bd42025f31643b48cf6e20af0
+size 324222
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_seg_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_seg_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1be1023c773385b8298e655a741e39602f120adf
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000004_wrist_camera_seg_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cd5ccd793f704cae55d5a1abfd4cbb91f8b491a7ff1691f126629cc4342b1ad
+size 388743
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..965a934c2b2e64dcc111c9ae05cd23e172f67220
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c701b10f6e53e3cec890ca43d8f18ad2a6a6bb21d90b96a5f59b20505ab11381
+size 932803
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..826bda4e1d14ea6f031ba3993d9ff9d2beca7b43
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9df47151ec939991236e553e82b272b2a48bf39e9414853577883a96da120b6c
+size 691758
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f86599dc026d628cc822427bdbefa0828ff87a83
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9855633d4468798e26e16cf571d0a4195795253cdc8bf9397dadcc1e75d2d646
+size 891461
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..71c7ad35362c8edbb0b370f1911c6f79c7ac4939
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa8190948d5f50913b8f5dd3cc16d215c4ae7e0b552aee3e88b461570eadc5c0
+size 792549
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..80844b2f1f8d86ef4f2e8ff095805183b59d073c
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:833b116250555bfe4dd1182778bf83c607c980cd1d344bc3696ab111d5957863
+size 557665
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8f0e5a03007407e86e2a878564c5350efd72bba3
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc91773e25ce11386b7592b1388d75ac8072b85d1eb725b94922628839583d25
+size 749478
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..336d35d2e372fadbbba05cb05c761b6b1ed6df08
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4413ca723bee8d4a0192aa5417498c545018abac0c7de539f17cced4258e0cb
+size 955886
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9fd091ef4c8939d11519f5a41de79d27a0d7e8be
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:939ae21c9806135dbe74c9fb971538adafc390ab9db9cdbca37dcd90ee84936c
+size 770919
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3fb8d01e59a4d441c7a48323ac29441784940d27
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8814ef295bca884ed096acae0c5cc0e0c45e5d85bcb4d4ca69616b3e2c75a5bb
+size 757778
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c7dcfa813c8b73e26283e87ab5f089cac4ffacbf
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceca2890c2d1a78820e9788baa5fa376d855c2c0a20fd62d9b02591cc205652d
+size 785858
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3bd577f5de32fa81366c9ed453f988856a442b9f
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3682a01e90d36e3a7602691390889e16a3599c1d8cd6d5a6d3d8fba1860a46e6
+size 652484
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e6c3894e8d6f2c56ac8e20a207f0d575b9d45c18
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f541f3d9d0df89720d236b102dcd2a319c72d9e78946026d1277dee4b7ac1b2
+size 494807
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..986f99bd0bc0ab998d22d86c10e412fdf0cbd72d
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9289f0afdd008377500532528dec62be3d5e62b31b19ec1439dd64955c9d86ae
+size 133234
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d2190993044bb7d202574ad731c11535211285f
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25d8bd838a54c6c8588c2e180c862f9047a27805b7188564ff6d4ab4cabeef72
+size 122776
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4f36873e43be1d09770526c16d17b46ce1632d01
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43df37390d9f04dfccb127d482484d60f71acd9d11fe77c749ea4c670e0f8626
+size 85907
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_seg_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_seg_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b89001036cb10586eecfecb10ab65238504487f3
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_seg_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17295d865f7af384f7a4e7bdf7fe33f8d23e2649de022f6cf0856781cfc34d3b
+size 577259
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_seg_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_seg_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c9f374cee7954a21e020b03305f923fdb7566b75
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_seg_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ee74f27317f43393a6af16e5a4ec621a1e23ce408b26a48d17f3684a00755bb
+size 323855
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_seg_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_seg_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f634e5aa67154acf2e0a0554b53b79a0e6facf9d
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000005_wrist_camera_seg_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:483b982570fedf6a48cadda9a5ceba65377a2314f6b64ac40606d5dd476264ad
+size 293482
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1dee98dbd76763f1e12b8aaef8e7a46859a2533f
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52a8ef193fc7126d36c5a860a215062566a730f1835fadfec20582f26d06e784
+size 644985
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..139d886106d130f2427f80ac72617be7f80a7ef7
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41e09150ff23192b46129674375c2c6b486ef62a62f0314c13e778ca469d60df
+size 626724
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aaa9ed7344e0a78141c61d7b6f5083a34b11f9fd
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89fddd0c84b2b106cc1c81280ba6383f555aae6d64149233b6de3133d085325b
+size 860797
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..efb9b1f047c7c84ae650e68f6fa2d399ef869de6
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3edcf0d61aff9f4b4e0fd00fe200c84a45ee06c80cb50830c1af92ef24fd574f
+size 507229
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c05c6024f81f6ba5cf2a3ae1bfddff99034930e
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a7d4780c14b26d4a4e8984f358befe058c1785293357ebc1030dca9e1199471
+size 434003
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e3f476b6b913c11b26203522dc2980cdcd911cb7
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfbfecb93e2af08b32b56cb7f6abbb0ef91e6d48c92f4f40f66dbfe88be10045
+size 679822
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0fd063a6c82ccff893bebe981e4bcdaae74a4499
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d36ea7d117867f14ebd116a7c3b1b12fcda9ad99f0764bb602b2e5a8e973bcc6
+size 530393
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..192d2486e6efde3d5d16e56cb42dc9fd069a7035
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:624ac3311845e1cfc1431b5d3533944df25034467f341e259aa564987bcff524
+size 497784
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2d99159ce53398c22cbdf7a051a32ea19ec8ee56
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc770d89a25f1d6acf9c69dae8fc1a4214dfac6ad0cffceb8b324c7e7ef1dd76
+size 643066
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..84d862e472c66c6b57aeb549b427248b48024f0e
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d1bf837e386d6410c1561d36229683d37ae8d7e6f144115b8bb32c00cad94dd
+size 941282
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e7e7d4aebb71d9ccb501848162a2476548325616
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2926f1fe5c0a3f3f962d51d5ad745cf54d304bea74e5f2d62d564b22d0c187c
+size 817059
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..32a40bf497aac98edb4452109b736c4aeda9c34b
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a48df4a6378d794645f26a4bdf2d2829da56fa5f073087804c77bbd28a0bf33
+size 760546
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7727b69a4245131a6ad4c20254e6dfd1814d9171
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:273057c3952f264492f37a1f80283ee23a07f9c56c5e15d8756a16d070ab0eb0
+size 422814
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1bf147c7ee0e4fc8d88c940a5a8f68b0ff6d1116
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f13ad4c2423a52bff9a6189e6fc53caffa8b17cf1984cac0a0cdfb61431069d9
+size 213217
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..47fb6c0ced9c965a36022facebc36d7e771f8bc6
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34df2127591a5cc869752cbce34eeee22a00dd0ee387e396f0bd94b55c6ed4c1
+size 152783
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_seg_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_seg_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..96e3f2b045b2385872d91b9a9f544469760faafc
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_seg_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0e6a435877a560be79a01b6dbcde3ade71d386ba03cc5ff7e0633de025e493e
+size 745362
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_seg_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_seg_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..57e7edbfc13a385c8cfab76bb140a387675b1aab
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_seg_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec3cf9eeee4f8f3db246de9c00f6cc50795ba860134770ce17680a50dd1ede67
+size 425965
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_seg_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_seg_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a2166119cd780518b9228f7703d41e28c6f311b
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000006_wrist_camera_seg_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:487ec275120a10aa51a3e75ca7e71e7c27e1946c457cf328067ed13e65b70b36
+size 315186
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b96d9f0ae6477bf034667a0468ba41de21f17c5
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56ab8d47212c40cc275106264ffc6198fac7e580612603705a0fedc819a19fdb
+size 864050
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bd1f1591a5f974f529dd2fd300849759b999f8e9
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:969b16ed0608642b6ba07cdd5189527b4462c3ee72663ad7a8205944a495bdb3
+size 833452
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6368f3d8e1ad0d934607c879964aae85c9d5ffe8
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bf567fa52e12b42f0bcc4419ea93a0aeac394fb1cc7c30921f898989e451e00
+size 868142
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e72ac482d4185131acb9b5a1eef6040d6c0594de
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ad75cc18f73d5a8f6255c865decdb8d360203b70670b80ee3c33d16f44c63a6
+size 700198
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f31a9bc0eaf6cd5a71cf4323b5505dd74581c4a
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_robot_rgb_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6efa748297486dd6b732807fee3d956ff97329c4ce28c0bb8c89567dcebaa052
+size 662965
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..71fa8452ad4c8e7bbd180bd60fddbbab69a85da1
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29138ead43b12d8aa4838db5cad50a48de729d3542d4d9923dfa822dfd889130
+size 761851
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ed02e27f88ef4ffc47150e1977af1783bda74b9
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23186089700ac87f0f3cc9ed9288035011f0ea6823728b776e48a97a434c0660
+size 833008
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fdf36e94ed849055a9541026eb2f7e0219b60e0d
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_seg_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5b3fee60ae2583fc7012809432667ed903ecfc112652238dfd25cf147798eb9
+size 641865
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..04aabd8ec0d07dbb060d0207506a8da965b39a62
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bca6499e37a117c771028fa6b74cfc019881cb4944e1576c487f167235febef
+size 616663
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..628f0e3893e2565e4473a73b6500c2654c4ca790
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0ce8acae0c873fe07942334f3c7930dfb5de5728a656c95c1a759aaac9951bf
+size 1018956
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e1a24ce3e067feb17d9adc30a88f7bb086f01377
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea7d5def40a990ddfe6b8c923284db265968ad9dad370e64db9d400b11b2b908
+size 994684
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..33ceced605e28b493a96bfa2639e144c3e560e3e
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94aa8f48e8ffe04f330b610ac4a2f7b405cd3f8745cf7c6e2a76eb02d62bfd34
+size 762280
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fb6db48ae2f59efc32a76664134cc8ce61d2b926
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e5cfd1ca51107a31079ffb787a8a63ef32c60556416709084237edab107cad8
+size 314631
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b46fe0e3e22b7ec4136215e71f98b2aeef842cd
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_robot_rgb_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b86d033e466edf5195be5be9687206d066ef345acdebc2dca265f41fac2f38d
+size 296699
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c2b9c31346c063a05a7557c629dc19c2032d97d6
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5042f0bbbcaf67822c92d2c51714ab7c2a5b286432ee7151e4780adad6109251
+size 166126
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_seg_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_seg_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..49af9a7fb4d0c31e92304a1be3e34b313e3aac02
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_seg_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:783f4c515dd4ed0d253de68d894e723d5dbb95c20f97a5a87ed00c2f635f3e80
+size 487877
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_seg_batch_2_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_seg_batch_2_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed0cdfc153d9f5638027eed16f796227b1c0811d
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_seg_batch_2_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9116166825da576cef7085ba126ad9cc5518b46c7648526b7c9dcf8b1ed5be3
+size 380456
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_seg_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_seg_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4f61c26a7cffb23fd3dfd05c3e712d367f2fb388
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000007_wrist_camera_seg_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9530952d2a192800231c6f5683703fba6708359ec68e9cd621f9768915849421
+size 365691
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_exo_camera_1_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_exo_camera_1_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3589efc67f92b6466196c8b89e1529d5d92e21d5
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_exo_camera_1_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f79ca45a68aab4ec7df38f980d0cc5c5d19a934949f48363e8a3160d70e5ed16
+size 851632
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_exo_camera_1_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_exo_camera_1_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5cbd99363778df308dc5892ff7f121759eee7bd5
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_exo_camera_1_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77b8455200b44d8c5d809ecdd64840449db326cfd9bb031c02af58bece74c827
+size 774872
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5857b5d1051314c7bbc41c2222cb30c24e1cdf6d
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f46a637928c3e3be476f3227078201f1b237d0d0918aaef4f26de02fdeaaeca2
+size 742607
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bee168bf015847ad9d45257778dc396081b041db
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_exo_camera_1_robot_rgb_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3af4201aace56041455713e1bdd42a247435881bf5694c70245c0f1284b7f3b
+size 596426
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f571e49139f38b8eb6ff0a6b42306f6eebc652e
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_exo_camera_1_seg_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59a26074ac3582a5e04dcf77d8af20de238ee63688476986bb7801fea692d10d
+size 825264
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a084e0225128df1434e4632e05af347d8a9e726a
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_exo_camera_1_seg_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cb7db8911a89e9357abca1861be6f5113c4e6b0dbc69851bb268e8dd802202d
+size 496182
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_wrist_camera_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_wrist_camera_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e642974854dc8d085c63b442c56e34cea351dd24
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_wrist_camera_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6d94a6a8931611913050f0e5c0ba2386a17168fedf5380b99e8c8e6ce2a8f7a
+size 875524
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_wrist_camera_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_wrist_camera_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..22840498f78d345dc00c84c192357c95feea89b0
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_wrist_camera_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2d64f3b96d1f6f6e887936ab56e5f1e25ebb122bd1a523a3282175870c92314
+size 621317
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65a7c5961f4deb245a30d597b248db7d1b479b56
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_wrist_camera_robot_rgb_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:077716c593293050178a25619830cf0083ca974128c24466c69116c16b6bc7cd
+size 220490
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d65987d83e5e44af3f43b77d220cd90eeee8d5d9
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_wrist_camera_robot_rgb_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60f756448c03c8321f1100f0d2c7e21b9e4a54231afc4c6540b6d22867237570
+size 119944
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_wrist_camera_seg_batch_1_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_wrist_camera_seg_batch_1_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0de13feace78bd1b69e0431df5f9a69cd93f2277
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_wrist_camera_seg_batch_1_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:816c033757c6818500a3ad7a8a44e8bd15dcc482ea0628f515695f339836c406
+size 440249
diff --git a/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_wrist_camera_seg_batch_3_of_3_cam_rand.mp4 b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_wrist_camera_seg_batch_3_of_3_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..79c5b5675c668e8169eda175e8d7185e4094b885
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/episode_00000008_wrist_camera_seg_batch_3_of_3_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ded6938cb25e12caeb7571aa8fdf75445b5fe43e2f5328c73c9bc30121d02094
+size 365479
diff --git a/fridge_m_v2/sim_chunks/chunk_301/experiment_config_20260514_220611.pkl b/fridge_m_v2/sim_chunks/chunk_301/experiment_config_20260514_220611.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e55c4adcf03a274062ef383c75285e5cccb12957
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/experiment_config_20260514_220611.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6db99aac5c3d6e8995c79a4a2b32ca9ef31d6e2c9254c4d7c96bc70579cd13a1
+size 8156
diff --git a/fridge_m_v2/sim_chunks/chunk_301/running_log.log b/fridge_m_v2/sim_chunks/chunk_301/running_log.log
new file mode 100644
index 0000000000000000000000000000000000000000..9e8bd61d9dc806835012ee7435661685376895e7
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/running_log.log
@@ -0,0 +1,4355 @@
+05/14 22:06:11 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 22:06:11 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/14 22:06:11 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 22:06:11 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_3gpu/sim_chunks/chunk_301'),
+ '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 0x711adfe36e10>,
+ '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': 80103,
+ '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': 3,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/14 22:06:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/14 22:06:11 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 22:06:11 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 22:06:11 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 22:06:11 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/14 22:06:11 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 22:06:11 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_3gpu/sim_chunks/chunk_301'),
+ '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 0x76c260d7ee50>,
+ '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': 80101,
+ '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': 3,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/14 22:06:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/14 22:06:11 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 22:06:11 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 22:06:11 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/14 22:06:11 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/14 22:06:11 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/14 22:06:11 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301'),
+ '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 0x733b9e655850>,
+ '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': 80102,
+ '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': 3,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/14 22:06:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/14 22:06:11 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/14 22:06:11 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/14 22:06:11 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 22:06:11 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 22:06:11 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/14 22:06:14 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/14 22:06:14 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 22:06:14 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/14 22:06:14 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 22:06:14 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/14 22:06:14 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/14 22:06:14 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 22:06:14 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 22:06:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:06:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:06:14 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 22:06:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:06:14 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 22:06:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:06:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:06:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:06:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004002m	[env.py: 870]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:06:14 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/14 22:06:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:06:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:06:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:06:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:06:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010857m	[env.py: 870]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:06:14 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/14 22:06:14 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/14 22:06:14 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/14 22:06:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:06:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:06:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:06:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:06:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:06:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065204m	[env.py: 870]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:06:14 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.07977989 -0.93385599 -0.00400247] yaw=188.4deg	[env.py: 1019]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 127.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.15408116 -0.39504035  0.01085702] yaw=-130.0deg	[env.py: 1019]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.25536057 -1.09964643 -0.00400247] yaw=145.1deg	[env.py: 1019]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 127.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.18139075 -0.13261208  0.01085702] yaw=-130.7deg	[env.py: 1019]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.10999477 -1.01122819  0.06520436] yaw=140.3deg	[env.py: 1019]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:06:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=15.3ms, retries=302.2ms, total=317.5ms	[env.py: 1075]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.080, -0.934, -0.004)	[env.py: 1079]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.4 deg	[env.py: 1082]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:06:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=15.2ms, retries=346.0ms, total=361.2ms	[env.py: 1075]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.154, -0.395, 0.011)	[env.py: 1079]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.0 deg	[env.py: 1082]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m	[env.py: 1086]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.36887205  0.05008122  0.06520436] yaw=-154.2deg	[env.py: 1019]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.34248223 -0.27492699  0.06520436] yaw=-160.9deg	[env.py: 1019]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:06:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=42.9ms, retries=321.2ms, total=364.0ms	[env.py: 1075]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.110, -1.011, 0.065)	[env.py: 1079]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 140.3 deg	[env.py: 1082]
+05/14 22:06:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:06:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:06:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:06:14 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:06:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:06:14 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:06:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:06:14 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:06:42 INFO: [Worker 0] Warmed up parallel IK solver in 28.005s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:06:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:06:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:06:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:06:43 INFO: [Worker 0] Warmed up parallel IK solver in 28.389s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:06:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:06:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:06:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:06:44 INFO: [Worker 0] Warmed up parallel IK solver in 29.034s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:06:44 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]
+05/14 22:06:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:06:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:06:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.159s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:06:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.673[m] 99.963[deg]	[grasp_sample.py: 539]
+05/14 22:06:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:06:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.878s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:06:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.677[m] 115.303[deg]	[grasp_sample.py: 539]
+05/14 22:06:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:06:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:06:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:06:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.608s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:06:44 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.645[m] 112.051[deg]	[grasp_sample.py: 539]
+05/14 22:06:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:06:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:06:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:06:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:06:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:06:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:06:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:07:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:07:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:07:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:07:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:07:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:07:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:07:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:07:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:07:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:08:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:08:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:08:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:08:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:08:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:08:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:08:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:08:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:08:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:08:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:08:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:08:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:08:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:08:15 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.521s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:08:15 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.300[deg]	[grasp_sample.py: 539]
+05/14 22:08:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:08:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:08:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:08:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:08:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:08:30 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:08:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:08:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:08:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:08:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:08:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:08:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:08:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:08:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:08:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:08:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:08:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:08:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:08:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:08:48 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:08:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/14 22:08:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:08:48 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.538s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:08:48 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.795[deg]	[grasp_sample.py: 539]
+05/14 22:08:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:08:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:08:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:08:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:08:52 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:08:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:09:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:09:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:09:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 12.11s (batch: 3.02s, save: 9.09s)	[pipeline.py: 300]
+05/14 22:09:00 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.25s:
+  episode_total: mean=169.06s, total=169.06s, count=1, min=169061.1ms, max=169061.1ms
+  sensor_polling: mean=328.6ms, total=98.58s, count=300, min=290.3ms, max=510.2ms
+  save_trajectories: mean=9.09s, total=9.09s, count=1, min=9089.3ms, max=9089.3ms
+  physics_step: mean=19.2ms, total=5.75s, count=300, min=13.3ms, max=26.6ms
+  task_sampling: mean=3.25s, total=3.25s, count=1, min=3253.0ms, max=3253.0ms
+  save_batch_prep: mean=3.02s, total=3.02s, count=1, min=3021.9ms, max=3021.9ms
+  scene_load: mean=2.65s, total=2.65s, count=1, min=2652.8ms, max=2652.8ms
+  scene_env_create: mean=1.61s, total=1.61s, count=1, min=1614.8ms, max=1614.8ms
+  scene_compile: mean=925.1ms, total=925.1ms, count=1, min=925.1ms, max=925.1ms
+  compile_mujoco: mean=716.4ms, total=716.4ms, count=1, min=716.4ms, max=716.4ms
+  task_specific_sample: mean=598.1ms, total=598.1ms, count=1, min=598.1ms, max=598.1ms
+  compile_xml_load: mean=139.6ms, total=139.6ms, count=1, min=139.6ms, max=139.6ms
+  scene_init: mean=73.8ms, total=73.8ms, count=1, min=73.8ms, max=73.8ms
+  compile_aux_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  compile_aux_policy_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  scene_asset_install: mean=39.0ms, total=39.0ms, count=1, min=39.0ms, max=39.0ms
+  asset_install_grasps: mean=28.6ms, total=28.6ms, count=1, min=28.6ms, max=28.6ms
+  compile_robot_add: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms
+  asset_install_objects: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms
+  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  scene_randomize: mean=862.6us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
+  mj_forward_sync: mean=333.8us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:09:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:09:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:09:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:09:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:09:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:09:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:09:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:09:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:09:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:09:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.065m, effective arm-mount z=0.795m (base_body_z=-0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.065030m	[env.py: 870]
+05/14 22:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:09:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 139.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.09167601 -1.04845884 -0.06502954] yaw=145.1deg	[env.py: 1019]
+05/14 22:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.35293241 -0.37056679 -0.06502954] yaw=-125.3deg	[env.py: 1019]
+05/14 22:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:09:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=361.3ms, total=361.4ms	[env.py: 1075]
+05/14 22:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.092, -1.048, -0.065)	[env.py: 1079]
+05/14 22:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.1 deg	[env.py: 1082]
+05/14 22:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m	[env.py: 1086]
+05/14 22:09:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:09:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:09:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:09:02 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:09:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:09:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:09:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:09:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:09:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.965s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:09:04 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.562[m] 66.648[deg]	[grasp_sample.py: 539]
+05/14 22:09:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:09:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:09:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:09:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:11 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:09:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/14 22:09:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:09:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:09:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:09:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:09:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:09:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:09:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 70 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:09:19 INFO: [Worker 0] Feasibility-checked 70 grasps in 3.444s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:09:19 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.031[m] 12.339[deg]	[grasp_sample.py: 539]
+05/14 22:09:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:09:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:09:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:09:22 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 22:09:22 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=False episode_total=3.39s:
+  episode_total: mean=190.61s, total=190.61s, count=1, min=190612.5ms, max=190612.5ms
+  sensor_polling: mean=386.9ms, total=116.08s, count=300, min=296.5ms, max=675.4ms
+  physics_step: mean=21.9ms, total=6.58s, count=300, min=12.3ms, max=77.6ms
+  task_sampling: mean=3.39s, total=3.39s, count=1, min=3391.1ms, max=3391.1ms
+  scene_load: mean=2.80s, total=2.80s, count=1, min=2801.6ms, max=2801.6ms
+  scene_env_create: mean=1.65s, total=1.65s, count=1, min=1651.8ms, max=1651.8ms
+  scene_compile: mean=1.03s, total=1.03s, count=1, min=1030.3ms, max=1030.3ms
+  compile_mujoco: mean=695.2ms, total=695.2ms, count=1, min=695.2ms, max=695.2ms
+  task_specific_sample: mean=582.1ms, total=582.1ms, count=1, min=582.1ms, max=582.1ms
+  compile_xml_load: mean=257.6ms, total=257.6ms, count=1, min=257.6ms, max=257.6ms
+  scene_init: mean=80.1ms, total=80.1ms, count=1, min=80.1ms, max=80.1ms
+  compile_aux_objects: mean=44.7ms, total=44.7ms, count=1, min=44.7ms, max=44.7ms
+  compile_aux_policy_objects: mean=44.7ms, total=44.7ms, count=1, min=44.7ms, max=44.7ms
+  scene_asset_install: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  asset_install_grasps: mean=28.3ms, total=28.3ms, count=1, min=28.3ms, max=28.3ms
+  compile_robot_add: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms
+  asset_install_objects: mean=8.3ms, total=8.3ms, count=1, min=8.3ms, max=8.3ms
+  mj_forward_sync: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
+  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  policy_setup: mean=37.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:09:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:09:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:09:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:09:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:09:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:09:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:09:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001715m	[env.py: 870]
+05/14 22:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:09:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.5639519  -0.04985257  0.00171543] yaw=-135.6deg	[env.py: 1019]
+05/14 22:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:09:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=362.6ms, total=362.7ms	[env.py: 1075]
+05/14 22:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.564, -0.050, 0.002)	[env.py: 1079]
+05/14 22:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.6 deg	[env.py: 1082]
+05/14 22:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m	[env.py: 1086]
+05/14 22:09:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:09:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:09:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:09:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:09:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 12.79s (batch: 3.87s, save: 8.91s)	[pipeline.py: 300]
+05/14 22:09:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:09:24 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:09:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:09:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:09:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:09:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:09:24 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.49s:
+  episode_total: mean=193.32s, total=193.32s, count=1, min=193320.0ms, max=193320.0ms
+  sensor_polling: mean=383.4ms, total=115.03s, count=300, min=295.7ms, max=580.5ms
+  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8914.0ms, max=8914.0ms
+  physics_step: mean=22.9ms, total=6.88s, count=300, min=13.5ms, max=33.2ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3872.9ms, max=3872.9ms
+  task_sampling: mean=3.49s, total=3.49s, count=1, min=3493.8ms, max=3493.8ms
+  scene_load: mean=2.89s, total=2.89s, count=1, min=2885.9ms, max=2885.9ms
+  scene_env_create: mean=1.60s, total=1.60s, count=1, min=1599.7ms, max=1599.7ms
+  scene_compile: mean=1.17s, total=1.17s, count=1, min=1170.4ms, max=1170.4ms
+  compile_mujoco: mean=723.2ms, total=723.2ms, count=1, min=723.2ms, max=723.2ms
+  task_specific_sample: mean=605.3ms, total=605.3ms, count=1, min=605.3ms, max=605.3ms
+  compile_xml_load: mean=376.2ms, total=376.2ms, count=1, min=376.2ms, max=376.2ms
+  scene_init: mean=74.9ms, total=74.9ms, count=1, min=74.9ms, max=74.9ms
+  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  scene_asset_install: mean=40.7ms, total=40.7ms, count=1, min=40.7ms, max=40.7ms
+  asset_install_grasps: mean=28.4ms, total=28.4ms, count=1, min=28.4ms, max=28.4ms
+  compile_robot_add: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms
+  asset_install_objects: mean=9.3ms, total=9.3ms, count=1, min=9.3ms, max=9.3ms
+  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  scene_randomize: mean=1.0ms, total=1.0ms, count=1, min=1.0ms, max=1.0ms
+  mj_forward_sync: mean=336.9us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:09:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:09:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:09:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:09:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:09:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:09:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:09:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:09:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:09:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:09:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:09:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034753m	[env.py: 870]
+05/14 22:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:09:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.10122156 -0.23608804 -0.03475292] yaw=-149.2deg	[env.py: 1019]
+05/14 22:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:09:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=288.8ms, total=288.8ms	[env.py: 1075]
+05/14 22:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.101, -0.236, -0.035)	[env.py: 1079]
+05/14 22:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.2 deg	[env.py: 1082]
+05/14 22:09:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.133m	[env.py: 1086]
+05/14 22:09:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:09:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:09:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:09:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:09:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.173s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:09:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.696[m] 59.178[deg]	[grasp_sample.py: 539]
+05/14 22:09:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:09:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:09:26 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:09:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:09:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:09:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:09:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:09:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:09:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:09:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.730s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:09:28 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:09:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:09:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:09:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:09:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:09:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:09:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:09:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:09:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:09:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029920m	[env.py: 870]
+05/14 22:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:09:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.00327626 -0.53839132  0.02991951] yaw=-166.1deg	[env.py: 1019]
+05/14 22:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.05484573 -1.0782299   0.02991951] yaw=144.5deg	[env.py: 1019]
+05/14 22:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.21165751 -0.22322778  0.02991951] yaw=-169.6deg	[env.py: 1019]
+05/14 22:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:09:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.7ms, total=140.7ms	[env.py: 1075]
+05/14 22:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.003, -0.538, 0.030)	[env.py: 1079]
+05/14 22:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.1 deg	[env.py: 1082]
+05/14 22:09:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.113m	[env.py: 1086]
+05/14 22:09:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:09:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:09:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:09:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:09:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:09:30 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:09:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:09:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:09:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:09:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:09:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.782s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:09:34 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.763[m] 87.793[deg]	[grasp_sample.py: 539]
+05/14 22:09:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:09:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:09:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:09:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:09:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:09:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:09:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:10:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:10:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:10:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:10:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:10:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:10:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:10:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:10:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:10:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:10:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:10:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:10:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:10:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:10:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:10:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:10:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:10:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:10:34 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.574s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:10:34 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.029[m] 0.420[deg]	[grasp_sample.py: 539]
+05/14 22:10:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:10:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:10:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:10:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:10:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:10:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:10:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:10:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:10:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:10:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:10:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:10:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:10:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:10:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:11:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:11:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:11:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:11:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:11:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:11:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:11:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:11:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:11:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:11:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:11:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:11:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:11:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:11:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:11:10 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.088s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:11:10 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.770[deg]	[grasp_sample.py: 539]
+05/14 22:11:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:11:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:11:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:11:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:11:28 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:11:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:11:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:11:35 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:11:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:11:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:11:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:11:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:11:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:11:45 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 22:11:45 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=0.57s:
+  episode_total: mean=141.93s, total=141.93s, count=1, min=141930.1ms, max=141930.1ms
+  sensor_polling: mean=379.1ms, total=113.74s, count=300, min=290.0ms, max=698.4ms
+  physics_step: mean=21.8ms, total=6.54s, count=300, min=17.0ms, max=32.0ms
+  task_sampling: mean=570.1ms, total=570.1ms, count=1, min=570.1ms, max=570.1ms
+  task_specific_sample: mean=567.5ms, total=567.5ms, count=1, min=567.5ms, max=567.5ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=341.3us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:11:45 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:11:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/14 22:11:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:11:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:11:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:11:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:11:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:11:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:11:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:11:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:11:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:11:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024125m	[env.py: 870]
+05/14 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:11:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 132.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 144.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.22605821 -0.06738537 -0.02412536] yaw=-135.9deg	[env.py: 1019]
+05/14 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.12138627 -0.79066588 -0.02412536] yaw=-191.2deg	[env.py: 1019]
+05/14 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.053889   -0.58305659 -0.02412536] yaw=-151.8deg	[env.py: 1019]
+05/14 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:11:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=285.5ms, total=285.6ms	[env.py: 1075]
+05/14 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.226, -0.067, -0.024)	[env.py: 1079]
+05/14 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.9 deg	[env.py: 1082]
+05/14 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.131m	[env.py: 1086]
+05/14 22:11:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:11:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:11:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:11:47 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:11:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:11:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:11:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:11:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:11:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.012s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:11:49 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:11:51 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:11:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/14 22:11:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:11:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:11:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:11:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:11:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:11:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:11:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:11:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:11:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:11:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040152m	[env.py: 870]
+05/14 22:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:11:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.06317113 -0.51879593 -0.04015195] yaw=-136.4deg	[env.py: 1019]
+05/14 22:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.24763632 -0.81470973 -0.04015195] yaw=-164.0deg	[env.py: 1019]
+05/14 22:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 130.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.38923299  0.11756154 -0.04015195] yaw=-125.2deg	[env.py: 1019]
+05/14 22:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:11:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=234.0ms, total=234.1ms	[env.py: 1075]
+05/14 22:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.063, -0.519, -0.040)	[env.py: 1079]
+05/14 22:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.4 deg	[env.py: 1082]
+05/14 22:11:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m	[env.py: 1086]
+05/14 22:11:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:11:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:11:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:11:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:11:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:11:52 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:11:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:11:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:11:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:11:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:11:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.821s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:11:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.689[m] 92.114[deg]	[grasp_sample.py: 539]
+05/14 22:11:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:11:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:11:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:11:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:11:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:11:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:11:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 11.88s (batch: 2.90s, save: 8.98s)	[pipeline.py: 300]
+05/14 22:11:58 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.86s:
+  episode_total: mean=75.39s, total=150.79s, count=2, min=2399.2ms, max=148386.5ms
+  sensor_polling: mean=351.3ms, total=105.39s, count=300, min=297.2ms, max=564.9ms
+  save_trajectories: mean=8.98s, total=8.98s, count=1, min=8977.1ms, max=8977.1ms
+  physics_step: mean=20.5ms, total=6.14s, count=300, min=14.3ms, max=28.5ms
+  save_batch_prep: mean=2.90s, total=2.90s, count=1, min=2902.9ms, max=2902.9ms
+  task_sampling: mean=431.5ms, total=863.0ms, count=2, min=336.2ms, max=526.8ms
+  task_specific_sample: mean=427.9ms, total=855.8ms, count=2, min=333.3ms, max=522.5ms
+  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=399.1us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:11:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:11:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:11:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:11:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:11:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:11:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:11:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:11:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:11:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:11:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:11:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.089m, effective arm-mount z=0.771m (base_body_z=-0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.089147m	[env.py: 870]
+05/14 22:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:11:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.0042351  -0.8788726  -0.08914733] yaw=167.4deg	[env.py: 1019]
+05/14 22:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.30706523 -0.58025917 -0.08914733] yaw=-160.1deg	[env.py: 1019]
+05/14 22:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.09808129 -1.0790148  -0.08914733] yaw=162.0deg	[env.py: 1019]
+05/14 22:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:12:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=463.3ms, total=463.4ms	[env.py: 1075]
+05/14 22:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.004, -0.879, -0.089)	[env.py: 1079]
+05/14 22:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.4 deg	[env.py: 1082]
+05/14 22:12:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
+05/14 22:12:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:12:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:12:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:12:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:12:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:12:00 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:12:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:12:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:12:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:12:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:12:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:12:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:12:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 11.66s (batch: 2.86s, save: 8.79s)	[pipeline.py: 300]
+05/14 22:12:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.001s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:12:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.893[m] 134.234[deg]	[grasp_sample.py: 539]
+05/14 22:12:03 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.60s:
+  episode_total: mean=181.39s, total=181.39s, count=1, min=181394.4ms, max=181394.4ms
+  sensor_polling: mean=385.2ms, total=115.56s, count=300, min=294.3ms, max=612.6ms
+  save_trajectories: mean=8.79s, total=8.79s, count=1, min=8794.8ms, max=8794.8ms
+  physics_step: mean=23.6ms, total=7.08s, count=300, min=14.4ms, max=29.3ms
+  save_batch_prep: mean=2.86s, total=2.86s, count=1, min=2861.2ms, max=2861.2ms
+  task_sampling: mean=598.4ms, total=598.4ms, count=1, min=598.4ms, max=598.4ms
+  task_specific_sample: mean=594.6ms, total=594.6ms, count=1, min=594.6ms, max=594.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=415.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:12:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:12:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:12:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:12:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:12:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:12:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:12:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:12:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:12:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:12:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:12:05 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]
+05/14 22:12:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:12:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000411m	[env.py: 870]
+05/14 22:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:12:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.73917323e-01 -1.22879729e+00  4.10596535e-04] yaw=174.8deg	[env.py: 1019]
+05/14 22:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.56122116e-01 -8.76304131e-01  4.10596535e-04] yaw=194.2deg	[env.py: 1019]
+05/14 22:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.28726112 -0.11589345  0.0004106 ] yaw=-131.1deg	[env.py: 1019]
+05/14 22:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:12:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=481.2ms, total=481.3ms	[env.py: 1075]
+05/14 22:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.174, -1.229, 0.000)	[env.py: 1079]
+05/14 22:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.8 deg	[env.py: 1082]
+05/14 22:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/14 22:12:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:12:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:12:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:12:05 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:12:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:12:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:12:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:12:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:12:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.953s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:12:10 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.652[m] 95.492[deg]	[grasp_sample.py: 539]
+05/14 22:12:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:12:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:12:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:12:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:12:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:12:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:13:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:13:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:13:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:13:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:13:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:13:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:13:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:13:59 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:14:06 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 22:14:06 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=False episode_total=0.66s:
+  episode_total: mean=126.76s, total=126.76s, count=1, min=126762.8ms, max=126762.8ms
+  sensor_polling: mean=379.4ms, total=113.81s, count=300, min=298.3ms, max=663.2ms
+  physics_step: mean=21.9ms, total=6.56s, count=300, min=17.2ms, max=49.2ms
+  task_sampling: mean=658.6ms, total=658.6ms, count=1, min=658.6ms, max=658.6ms
+  task_specific_sample: mean=655.5ms, total=655.5ms, count=1, min=655.5ms, max=655.5ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=340.3us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=24.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:14:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:14:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:14:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:14:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:14:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:14:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:14:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:14:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:14:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.093m, effective arm-mount z=0.767m (base_body_z=-0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.093345m	[env.py: 870]
+05/14 22:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:14:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 110.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=236.8ms, total=236.9ms	[env.py: 1105]
+05/14 22:14:08 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 302]
+05/14 22:14:08 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]
+05/14 22:14:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:14:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:14:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:14:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:14:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:14:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:14:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:14:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:14:09 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]
+05/14 22:14:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:14:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.053m, effective arm-mount z=0.807m (base_body_z=-0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.052713m	[env.py: 870]
+05/14 22:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:14:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.00860749 -0.81629714 -0.05271273] yaw=189.3deg	[env.py: 1019]
+05/14 22:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.17863996 -0.61909156 -0.05271273] yaw=-170.6deg	[env.py: 1019]
+05/14 22:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:14:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.9ms, total=214.9ms	[env.py: 1075]
+05/14 22:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.009, -0.816, -0.053)	[env.py: 1079]
+05/14 22:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 189.3 deg	[env.py: 1082]
+05/14 22:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m	[env.py: 1086]
+05/14 22:14:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:14:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:14:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:14:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:14:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:14:10 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:14:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:14:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:14:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:14:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:14:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.095s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:14:12 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.484[m] 63.891[deg]	[grasp_sample.py: 539]
+05/14 22:14:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:14:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:14:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:14:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:14:16 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:14:18 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:14:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/14 22:14:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:14:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:14:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:14:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 13.27s (batch: 3.02s, save: 10.25s)	[pipeline.py: 300]
+05/14 22:14:32 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:14:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/14 22:14:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:14:32 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.96s:
+  episode_total: mean=81.76s, total=163.53s, count=2, min=2677.1ms, max=160852.0ms
+  sensor_polling: mean=390.4ms, total=117.11s, count=300, min=292.1ms, max=729.0ms
+  save_trajectories: mean=10.25s, total=10.25s, count=1, min=10253.4ms, max=10253.4ms
+  physics_step: mean=23.4ms, total=7.03s, count=300, min=13.2ms, max=28.8ms
+  save_batch_prep: mean=3.02s, total=3.02s, count=1, min=3016.9ms, max=3016.9ms
+  task_sampling: mean=482.2ms, total=964.5ms, count=2, min=448.9ms, max=515.6ms
+  task_specific_sample: mean=478.8ms, total=957.6ms, count=2, min=445.5ms, max=512.1ms
+  scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=371.8us, total=0.7ms, count=2, min=0.3ms, max=0.4ms
+  policy_setup: mean=16.6us, 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]
+05/14 22:14:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:14:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:14:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:14:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:14:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:14:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:14:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:14:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:14:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:14:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:14:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071115m	[env.py: 870]
+05/14 22:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:14:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.28302386  0.02191493  0.07111501] yaw=-112.1deg	[env.py: 1019]
+05/14 22:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.06442897 -0.25601418  0.07111501] yaw=-161.2deg	[env.py: 1019]
+05/14 22:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 135.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 129.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:14:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=158.4ms, total=158.5ms	[env.py: 1075]
+05/14 22:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.283, 0.022, 0.071)	[env.py: 1079]
+05/14 22:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -112.1 deg	[env.py: 1082]
+05/14 22:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.153m	[env.py: 1086]
+05/14 22:14:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:14:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:14:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:14:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:14:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:14:35 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:14:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:14:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:14:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:14:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:14:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.445s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:14:38 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:14:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:14:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:14:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:14:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:14:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:14:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:14:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:14:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:14:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:14:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:14:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.093m, effective arm-mount z=0.767m (base_body_z=-0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.092932m	[env.py: 870]
+05/14 22:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:14:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 135.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.45041405  0.05360867 -0.09293171] yaw=-123.8deg	[env.py: 1019]
+05/14 22:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.18584525 -0.16753192 -0.09293171] yaw=-143.0deg	[env.py: 1019]
+05/14 22:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:14:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=162.4ms, total=162.5ms	[env.py: 1075]
+05/14 22:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.450, 0.054, -0.093)	[env.py: 1079]
+05/14 22:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.8 deg	[env.py: 1082]
+05/14 22:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m	[env.py: 1086]
+05/14 22:14:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:14:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:14:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:14:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:14:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:14:40 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:14:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:14:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:14:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:14:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:14:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.493s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:14:43 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:14:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:14:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:14:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 12.12s (batch: 3.01s, save: 9.11s)	[pipeline.py: 300]
+05/14 22:14:45 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.68s:
+  episode_total: mean=160.05s, total=160.05s, count=1, min=160050.6ms, max=160050.6ms
+  sensor_polling: mean=388.2ms, total=116.47s, count=300, min=300.0ms, max=639.2ms
+  save_trajectories: mean=9.11s, total=9.11s, count=1, min=9106.8ms, max=9106.8ms
+  physics_step: mean=22.4ms, total=6.73s, count=300, min=14.8ms, max=63.7ms
+  save_batch_prep: mean=3.01s, total=3.01s, count=1, min=3011.0ms, max=3011.0ms
+  task_sampling: mean=684.7ms, total=684.7ms, count=1, min=684.7ms, max=684.7ms
+  task_specific_sample: mean=680.2ms, total=680.2ms, count=1, min=680.2ms, max=680.2ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=506.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:14:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:14:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:14:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:14:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:14:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:14:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:14:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:14:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:14:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:14:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:14:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:14:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058954m	[env.py: 870]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:14:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.13838877 -0.46311062  0.05895421] yaw=-150.5deg	[env.py: 1019]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.34501092 -0.08258157  0.05895421] yaw=-137.6deg	[env.py: 1019]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:14:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=144.3ms, total=144.4ms	[env.py: 1075]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.138, -0.463, 0.059)	[env.py: 1079]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg	[env.py: 1082]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m	[env.py: 1086]
+05/14 22:14:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:14:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:14:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:14:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:14:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:14:46 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:14:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:14:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:14:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:14:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:14:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:14:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:14:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:14:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:14:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:14:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:14:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:14:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:14:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:14:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:14:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042748m	[env.py: 870]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:14:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.049341   -0.90179792 -0.0427481 ] yaw=203.3deg	[env.py: 1019]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.19368241 -0.35287642 -0.0427481 ] yaw=-156.1deg	[env.py: 1019]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.2928688  -1.10947469 -0.0427481 ] yaw=170.5deg	[env.py: 1019]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:14:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=210.8ms, total=210.8ms	[env.py: 1075]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.049, -0.902, -0.043)	[env.py: 1079]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 203.3 deg	[env.py: 1082]
+05/14 22:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.127m	[env.py: 1086]
+05/14 22:14:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:14:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:14:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:14:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:14:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:14:47 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:14:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:14:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:14:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:14:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:14:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.697s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:14:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.574[m] 106.078[deg]	[grasp_sample.py: 539]
+05/14 22:14:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:14:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:14:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:14:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:14:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.837s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:14:49 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:14:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:14:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:14:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:14:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:14:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:14:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:14:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:14:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:14:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.092m, effective arm-mount z=0.768m (base_body_z=-0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.092152m	[env.py: 870]
+05/14 22:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:14:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 141.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.26678841 -0.83854095 -0.09215153] yaw=197.7deg	[env.py: 1019]
+05/14 22:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.39330718 -0.17963815 -0.09215153] yaw=-113.9deg	[env.py: 1019]
+05/14 22:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.50508471  0.04879983 -0.09215153] yaw=-139.0deg	[env.py: 1019]
+05/14 22:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:14:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.6ms, total=153.7ms	[env.py: 1075]
+05/14 22:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.267, -0.839, -0.092)	[env.py: 1079]
+05/14 22:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 197.7 deg	[env.py: 1082]
+05/14 22:14:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m	[env.py: 1086]
+05/14 22:14:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:14:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:14:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:14:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:14:50 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:14:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:14:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:14:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:14:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:14:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.560s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:14:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.355[m] 48.418[deg]	[grasp_sample.py: 539]
+05/14 22:14:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:14:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:14:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:14:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:14:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:15:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:15:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:15:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:15:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:15:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:15:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:16:01 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:16:17 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:16:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/14 22:16:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:16:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:16:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:16:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 11.44s (batch: 2.80s, save: 8.64s)	[pipeline.py: 300]
+05/14 22:16:29 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.43s:
+  episode_total: mean=69.72s, total=139.44s, count=2, min=250.4ms, max=139193.0ms
+  sensor_polling: mean=333.4ms, total=100.01s, count=300, min=293.2ms, max=701.5ms
+  save_trajectories: mean=8.64s, total=8.64s, count=1, min=8640.9ms, max=8640.9ms
+  physics_step: mean=21.4ms, total=6.43s, count=300, min=17.1ms, max=28.5ms
+  save_batch_prep: mean=2.80s, total=2.80s, count=1, min=2800.2ms, max=2800.2ms
+  task_specific_sample: mean=333.1ms, total=666.3ms, count=2, min=243.5ms, max=422.8ms
+  task_sampling: mean=426.9ms, total=426.9ms, count=1, min=426.9ms, max=426.9ms
+  task_sampling_failed: mean=250.4ms, total=250.4ms, count=1, min=250.4ms, max=250.4ms
+  scene_randomize: mean=1.6ms, total=3.1ms, count=2, min=1.5ms, max=1.6ms
+  mj_forward_sync: mean=480.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=71.3us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:16:30 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:16:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:16:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:16:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:16:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:16:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:16:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:16:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:16:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:16:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:16:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:16:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.026m, effective arm-mount z=0.834m (base_body_z=-0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025620m	[env.py: 870]
+05/14 22:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:16:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.09204908 -0.71038225 -0.02562034] yaw=-165.5deg	[env.py: 1019]
+05/14 22:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.20316836 -0.43801626 -0.02562034] yaw=-179.6deg	[env.py: 1019]
+05/14 22:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.30144905 -0.48650485 -0.02562034] yaw=-171.2deg	[env.py: 1019]
+05/14 22:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:16:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.4ms, total=183.5ms	[env.py: 1075]
+05/14 22:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.092, -0.710, -0.026)	[env.py: 1079]
+05/14 22:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.5 deg	[env.py: 1082]
+05/14 22:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/14 22:16:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:16:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:16:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:16:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:16:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:16:30 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:16:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:16:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:16:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:16:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:16:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.470s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:16:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.626[m] 60.106[deg]	[grasp_sample.py: 539]
+05/14 22:16:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:16:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:16:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:16:46 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:16:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/14 22:16:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:16:55 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:16:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:16:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:16:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 12.07s (batch: 3.72s, save: 8.35s)	[pipeline.py: 300]
+05/14 22:16:59 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.07s:
+  episode_total: mean=46.34s, total=139.01s, count=3, min=2980.9ms, max=133042.6ms
+  sensor_polling: mean=317.1ms, total=95.14s, count=300, min=290.7ms, max=623.9ms
+  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8354.9ms, max=8354.9ms
+  physics_step: mean=19.2ms, total=5.76s, count=300, min=15.6ms, max=29.4ms
+  save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3719.1ms, max=3719.1ms
+  task_sampling: mean=358.1ms, total=1.07s, count=3, min=338.4ms, max=373.5ms
+  task_specific_sample: mean=350.8ms, total=1.05s, count=3, min=327.5ms, max=368.6ms
+  scene_randomize: mean=3.4ms, total=10.2ms, count=3, min=3.2ms, max=3.7ms
+  mj_forward_sync: mean=427.1us, total=1.3ms, count=3, min=0.3ms, max=0.5ms
+  policy_setup: mean=47.6us, total=0.1ms, count=3, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:17:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:17:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:17:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:17:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:17:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:17:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:17:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:17:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:17:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:17:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:17:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099979m	[env.py: 870]
+05/14 22:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:17:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.3522404  -0.14427197  0.09997927] yaw=-156.3deg	[env.py: 1019]
+05/14 22:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.02059428 -1.30258308  0.09997927] yaw=144.2deg	[env.py: 1019]
+05/14 22:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.02425287 -0.97040507  0.09997927] yaw=172.4deg	[env.py: 1019]
+05/14 22:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:17:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=460.5ms, total=460.6ms	[env.py: 1075]
+05/14 22:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.352, -0.144, 0.100)	[env.py: 1079]
+05/14 22:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.3 deg	[env.py: 1082]
+05/14 22:17:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m	[env.py: 1086]
+05/14 22:17:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:17:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:17:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:17:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:17:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:17:01 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:17:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:17:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:17:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:17:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:17:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.065s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:17:04 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.676[m] 104.231[deg]	[grasp_sample.py: 539]
+05/14 22:17:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:17:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:17:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:17:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:17:12 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:17:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/14 22:17:12 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
+05/14 22:17:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:17:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:17:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:17:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 11.02s (batch: 2.61s, save: 8.41s)	[pipeline.py: 300]
+05/14 22:17:23 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.83s:
+  episode_total: mean=77.81s, total=155.61s, count=2, min=2452.0ms, max=153159.5ms
+  sensor_polling: mean=380.8ms, total=110.04s, count=289, min=301.2ms, max=713.0ms
+  save_trajectories: mean=8.41s, total=8.41s, count=1, min=8405.2ms, max=8405.2ms
+  physics_step: mean=22.6ms, total=6.52s, count=289, min=17.7ms, max=30.8ms
+  save_batch_prep: mean=2.61s, total=2.61s, count=1, min=2612.3ms, max=2612.3ms
+  task_sampling: mean=413.0ms, total=826.1ms, count=2, min=370.4ms, max=455.7ms
+  task_specific_sample: mean=409.0ms, total=818.1ms, count=2, min=366.5ms, max=451.5ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.4ms, max=2.8ms
+  mj_forward_sync: mean=590.2us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
+  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]
+05/14 22:17:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:17:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:17:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:17:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:17:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:17:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:17:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:17:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:17:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:17:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:17:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045998m	[env.py: 870]
+05/14 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:17:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.10395683 -0.89353528  0.04599777] yaw=183.8deg	[env.py: 1019]
+05/14 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.32710376 -1.20677395  0.04599777] yaw=145.2deg	[env.py: 1019]
+05/14 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.22365084 -0.09450807  0.04599777] yaw=-141.4deg	[env.py: 1019]
+05/14 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:17:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=336.4ms, total=336.4ms	[env.py: 1075]
+05/14 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.104, -0.894, 0.046)	[env.py: 1079]
+05/14 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.8 deg	[env.py: 1082]
+05/14 22:17:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.181m	[env.py: 1086]
+05/14 22:17:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:17:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:17:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:17:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:17:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:17:25 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:17:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:17:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:17:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:17:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:17:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:17:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.189s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:17:27 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:17:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:17:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:17:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:17:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:17:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:17:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:17:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:17:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:17:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.026m, effective arm-mount z=0.834m (base_body_z=-0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025929m	[env.py: 870]
+05/14 22:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:17:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.1343181  -1.29678672 -0.02592871] yaw=143.5deg	[env.py: 1019]
+05/14 22:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:17:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.13686005 -0.41654921 -0.02592871] yaw=-150.5deg	[env.py: 1019]
+05/14 22:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:17:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=528.8ms, total=528.9ms	[env.py: 1075]
+05/14 22:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.134, -1.297, -0.026)	[env.py: 1079]
+05/14 22:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 143.5 deg	[env.py: 1082]
+05/14 22:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m	[env.py: 1086]
+05/14 22:17:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:17:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:17:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:17:30 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:17:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:17:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:17:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:17:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:17:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.145s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:17:32 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.698[m] 80.557[deg]	[grasp_sample.py: 539]
+05/14 22:17:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:17:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:17:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:17:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:17:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:17:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:18:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:18:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:18:36 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:18:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:18:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:18:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:18:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:18:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:18:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:18:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:18:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:18:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:18:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:18:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:18:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:18:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:18:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:18:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:18:51 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:18:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/14 22:18:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:18:52 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.883s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:18:52 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.242[deg]	[grasp_sample.py: 539]
+05/14 22:18:54 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:18:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:18:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:18:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:18:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:18:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:18:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:18:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:18:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:18:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:18:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.089m, effective arm-mount z=0.771m (base_body_z=-0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.088734m	[env.py: 870]
+05/14 22:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:18:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 133.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.00205426 -0.80671407 -0.0887345 ] yaw=-202.3deg	[env.py: 1019]
+05/14 22:18:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.25641882 -0.41846974 -0.0887345 ] yaw=-170.6deg	[env.py: 1019]
+05/14 22:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.10794744 -0.57801236 -0.0887345 ] yaw=-150.0deg	[env.py: 1019]
+05/14 22:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:18:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=399.5ms, total=399.5ms	[env.py: 1075]
+05/14 22:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.002, -0.807, -0.089)	[env.py: 1079]
+05/14 22:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -202.3 deg	[env.py: 1082]
+05/14 22:18:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
+05/14 22:18:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:18:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:18:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:18:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:18:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:18:57 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:18:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:18:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:18:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:18:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:19:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.119s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:19:01 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.769[m] 108.274[deg]	[grasp_sample.py: 539]
+05/14 22:19:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:19:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:19:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:19:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:19:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:19:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:19:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 11.27s (batch: 2.73s, save: 8.54s)	[pipeline.py: 300]
+05/14 22:19:03 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.41s:
+  episode_total: mean=153.04s, total=153.04s, count=1, min=153035.7ms, max=153035.7ms
+  sensor_polling: mean=382.1ms, total=114.64s, count=300, min=290.7ms, max=631.4ms
+  save_trajectories: mean=8.54s, total=8.54s, count=1, min=8543.7ms, max=8543.7ms
+  physics_step: mean=22.2ms, total=6.66s, count=300, min=17.4ms, max=90.1ms
+  save_batch_prep: mean=2.73s, total=2.73s, count=1, min=2729.3ms, max=2729.3ms
+  task_sampling: mean=405.7ms, total=405.7ms, count=1, min=405.7ms, max=405.7ms
+  task_specific_sample: mean=402.4ms, total=402.4ms, count=1, min=402.4ms, max=402.4ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=366.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=27.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:19:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:19:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:19:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:19:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:19:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:19:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:19:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:19:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:19:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:19:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:19:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077285m	[env.py: 870]
+05/14 22:19:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:19:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.29903796 -0.33179103  0.07728512] yaw=-127.5deg	[env.py: 1019]
+05/14 22:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.21440751 -0.26469177  0.07728512] yaw=-151.7deg	[env.py: 1019]
+05/14 22:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.59574928 -0.14243014  0.07728512] yaw=-107.4deg	[env.py: 1019]
+05/14 22:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:19:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=418.1ms, total=418.2ms	[env.py: 1075]
+05/14 22:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.299, -0.332, 0.077)	[env.py: 1079]
+05/14 22:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.5 deg	[env.py: 1082]
+05/14 22:19:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m	[env.py: 1086]
+05/14 22:19:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:19:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:19:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:19:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:19:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:19:05 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:19:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:19:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:19:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:19:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:19:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.738s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:19:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.663[m] 91.401[deg]	[grasp_sample.py: 539]
+05/14 22:19:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:19:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:19:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:19:38 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:19:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:19:56 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:19:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/14 22:19:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:20:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:20:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:20:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:20:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:20:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:20:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 13.63s (batch: 5.29s, save: 8.34s)	[pipeline.py: 300]
+05/14 22:20:10 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.28s:
+  episode_total: mean=82.22s, total=164.44s, count=2, min=2898.6ms, max=161545.9ms
+  sensor_polling: mean=386.2ms, total=115.87s, count=300, min=301.5ms, max=663.4ms
+  save_trajectories: mean=8.34s, total=8.34s, count=1, min=8341.3ms, max=8341.3ms
+  physics_step: mean=24.8ms, total=7.44s, count=300, min=17.5ms, max=32.6ms
+  save_batch_prep: mean=5.29s, total=5.29s, count=1, min=5292.5ms, max=5292.5ms
+  task_sampling: mean=639.9ms, total=1.28s, count=2, min=546.7ms, max=733.1ms
+  task_specific_sample: mean=636.0ms, total=1.27s, count=2, min=542.5ms, max=729.6ms
+  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.4ms, max=2.9ms
+  mj_forward_sync: mean=494.4us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=16.6us, 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]
+05/14 22:20:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:20:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:20:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:20:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:20:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:20:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:20:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:20:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:20:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:20:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:20:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:20:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080875m	[env.py: 870]
+05/14 22:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:20:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.375107    0.03710125  0.08087515] yaw=-132.8deg	[env.py: 1019]
+05/14 22:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.51937169 -0.16869158  0.08087515] yaw=-157.7deg	[env.py: 1019]
+05/14 22:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:20:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=420.3ms, total=420.4ms	[env.py: 1075]
+05/14 22:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.375, 0.037, 0.081)	[env.py: 1079]
+05/14 22:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.8 deg	[env.py: 1082]
+05/14 22:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.103m	[env.py: 1086]
+05/14 22:20:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:20:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:20:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:20:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:20:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:20:12 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:20:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:20:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:20:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:20:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:20:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:20:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.648s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:20:14 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:20:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:20:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:20:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:20:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:20:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:20:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:20:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:20:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:20:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:20:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:20:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019647m	[env.py: 870]
+05/14 22:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:20:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.13856706 -1.06145384  0.01964661] yaw=162.2deg	[env.py: 1019]
+05/14 22:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.21560067 -0.72839628  0.01964661] yaw=-157.5deg	[env.py: 1019]
+05/14 22:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:20:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=333.8ms, total=333.8ms	[env.py: 1075]
+05/14 22:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.139, -1.061, 0.020)	[env.py: 1079]
+05/14 22:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.2 deg	[env.py: 1082]
+05/14 22:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m	[env.py: 1086]
+05/14 22:20:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:20:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:20:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:20:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:20:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:20:16 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:20:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:20:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:20:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:20:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:20:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.704s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:20:17 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.510[m] 96.287[deg]	[grasp_sample.py: 539]
+05/14 22:20:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:20:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:20:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:20:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:20:55 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:20:56 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:21:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:21:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:21:11 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:21:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/14 22:21:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:21:13 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:21:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/14 22:21:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:21:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:21:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:21:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:21:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 12.19s (batch: 3.70s, save: 8.49s)	[pipeline.py: 300]
+05/14 22:21:24 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.38s:
+  episode_total: mean=130.32s, total=260.64s, count=2, min=113257.2ms, max=147381.0ms
+  sensor_polling: mean=334.3ms, total=194.21s, count=581, min=293.0ms, max=686.7ms
+  physics_step: mean=20.7ms, total=12.00s, count=581, min=14.9ms, max=35.5ms
+  save_trajectories: mean=8.49s, total=8.49s, count=1, min=8485.7ms, max=8485.7ms
+  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3703.7ms, max=3703.7ms
+  task_sampling: mean=691.7ms, total=1.38s, count=2, min=621.9ms, max=761.4ms
+  task_specific_sample: mean=687.6ms, total=1.38s, count=2, min=617.7ms, max=757.5ms
+  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.8ms, max=2.7ms
+  mj_forward_sync: mean=512.4us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  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]
+05/14 22:21:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:21:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:21:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 11.12s (batch: 2.69s, save: 8.42s)	[pipeline.py: 300]
+05/14 22:21:25 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.69s:
+  episode_total: mean=140.41s, total=140.41s, count=1, min=140410.5ms, max=140410.5ms
+  sensor_polling: mean=336.8ms, total=101.05s, count=300, min=293.2ms, max=690.3ms
+  save_trajectories: mean=8.42s, total=8.42s, count=1, min=8424.3ms, max=8424.3ms
+  physics_step: mean=20.6ms, total=6.19s, count=300, min=17.2ms, max=49.1ms
+  save_batch_prep: mean=2.69s, total=2.69s, count=1, min=2691.8ms, max=2691.8ms
+  task_sampling: mean=685.2ms, total=685.2ms, count=1, min=685.2ms, max=685.2ms
+  task_specific_sample: mean=681.6ms, total=681.6ms, count=1, min=681.6ms, max=681.6ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=359.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=31.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:21:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:21:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:21:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:21:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:21:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:21:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:21:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:21:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:21:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.083m, effective arm-mount z=0.777m (base_body_z=-0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.083312m	[env.py: 870]
+05/14 22:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:21:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.12311857 -0.28739802 -0.08331212] yaw=-155.3deg	[env.py: 1019]
+05/14 22:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.24307178 -1.25983197 -0.08331212] yaw=154.6deg	[env.py: 1019]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.03733883 -1.1256165  -0.08331212] yaw=151.0deg	[env.py: 1019]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:21:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.6ms, total=107.6ms	[env.py: 1075]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.123, -0.287, -0.083)	[env.py: 1079]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.3 deg	[env.py: 1082]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
+05/14 22:21:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:21:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:21:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:21:26 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:21:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:21:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:21:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:21:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:21:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:21:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:21:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:21:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:21:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:21:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:21:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:21:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:21:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043540m	[env.py: 870]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:21:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.15173236 -0.54607718  0.04354029] yaw=-170.5deg	[env.py: 1019]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.21133445 -1.05911309  0.04354029] yaw=175.2deg	[env.py: 1019]
+05/14 22:21:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:21:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=217.4ms, total=217.5ms	[env.py: 1075]
+05/14 22:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.152, -0.546, 0.044)	[env.py: 1079]
+05/14 22:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.5 deg	[env.py: 1082]
+05/14 22:21:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m	[env.py: 1086]
+05/14 22:21:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:21:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:21:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:21:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:21:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:21:27 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:21:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:21:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:21:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:21:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:21:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.834s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:21:28 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.659[m] 47.275[deg]	[grasp_sample.py: 539]
+05/14 22:21:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:21:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:21:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:21:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.308s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:21:28 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.813[m] 118.970[deg]	[grasp_sample.py: 539]
+05/14 22:21:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:21:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:21:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:21:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:21:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:21:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:21:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:21:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:21:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:21:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:21:51 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.511s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:21:51 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.297[deg]	[grasp_sample.py: 539]
+05/14 22:21:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:21:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:21:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:21:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:22:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:22:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:22:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:22:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:22:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:22:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:22:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:22:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:22:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:22:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:22:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:22:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:22:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:22:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:22:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:22:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:22:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:22:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:22:28 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.967s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:22:28 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.758[deg]	[grasp_sample.py: 539]
+05/14 22:22:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:22:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:22:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:22:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:22:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:22:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:22:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:22:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:22:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:22:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:22:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:22:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:22:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:22:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:22:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:23:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:23:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:23:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:23:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:23:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:23:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:23:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 70 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:23:05 INFO: [Worker 0] Feasibility-checked 70 grasps in 3.776s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:23:05 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.031[m] 12.529[deg]	[grasp_sample.py: 539]
+05/14 22:23:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:23:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:23:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:23:10 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 22:23:10 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=False episode_total=1.26s:
+  episode_total: mean=88.51s, total=177.03s, count=2, min=2486.3ms, max=174543.6ms
+  sensor_polling: mean=406.9ms, total=122.06s, count=300, min=299.6ms, max=670.6ms
+  physics_step: mean=23.4ms, total=7.01s, count=300, min=12.9ms, max=29.0ms
+  task_sampling: mean=631.5ms, total=1.26s, count=2, min=601.4ms, max=661.6ms
+  task_specific_sample: mean=623.0ms, total=1.25s, count=2, min=589.0ms, max=657.1ms
+  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=391.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:23:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:23:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:23:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:23:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:23:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:23:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:23:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:23:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:23:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:23:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:23:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061189m	[env.py: 870]
+05/14 22:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:23:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:23:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:23:12 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 150.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 133.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.04451865 -1.18574945  0.06118926] yaw=155.7deg	[env.py: 1019]
+05/14 22:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.29355893 -0.49111953  0.06118926] yaw=-147.3deg	[env.py: 1019]
+05/14 22:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:23:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=377.9ms, total=377.9ms	[env.py: 1075]
+05/14 22:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.045, -1.186, 0.061)	[env.py: 1079]
+05/14 22:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.7 deg	[env.py: 1082]
+05/14 22:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
+05/14 22:23:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:23:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:23:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:23:12 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:23:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:23:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:23:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:23:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:23:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.170s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:23:15 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.677[m] 67.489[deg]	[grasp_sample.py: 539]
+05/14 22:23:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:23:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:23:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:23:30 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:23:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/14 22:23:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:23:39 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:23:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:23:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:23:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 13.27s (batch: 4.04s, save: 9.23s)	[pipeline.py: 300]
+05/14 22:23:44 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.32s:
+  episode_total: mean=138.78s, total=138.78s, count=1, min=138782.7ms, max=138782.7ms
+  sensor_polling: mean=316.6ms, total=94.98s, count=300, min=296.8ms, max=608.8ms
+  save_trajectories: mean=9.23s, total=9.23s, count=1, min=9227.9ms, max=9227.9ms
+  physics_step: mean=19.2ms, total=5.77s, count=300, min=17.9ms, max=27.2ms
+  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4043.0ms, max=4043.0ms
+  task_sampling: mean=319.5ms, total=319.5ms, count=1, min=319.5ms, max=319.5ms
+  task_specific_sample: mean=315.2ms, total=315.2ms, count=1, min=315.2ms, max=315.2ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=450.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:23:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:23:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:23:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:23:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:23:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:23:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:23:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:23:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:23:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:23:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:23:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091656m	[env.py: 870]
+05/14 22:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:23:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.06471984 -0.54950764  0.09165553] yaw=-189.7deg	[env.py: 1019]
+05/14 22:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.16699699 -0.05581482  0.09165553] yaw=-126.2deg	[env.py: 1019]
+05/14 22:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.29377526 -0.6320414   0.09165553] yaw=-172.5deg	[env.py: 1019]
+05/14 22:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:23:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.2ms, retries=66.2ms, total=66.4ms	[env.py: 1075]
+05/14 22:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.065, -0.550, 0.092)	[env.py: 1079]
+05/14 22:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.7 deg	[env.py: 1082]
+05/14 22:23:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.170m	[env.py: 1086]
+05/14 22:23:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:23:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:23:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:23:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:23:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:23:46 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:23:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:23:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:23:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:23:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:23:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.854s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:23:48 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:23:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:23:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:23:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:23:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:23:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:23:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:23:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:23:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:23:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029441m	[env.py: 870]
+05/14 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:23:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.15327153 -0.4494985   0.02944094] yaw=-151.6deg	[env.py: 1019]
+05/14 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 128.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.0765762  -0.20107674  0.02944094] yaw=-135.0deg	[env.py: 1019]
+05/14 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:23:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=151.4ms, total=151.4ms	[env.py: 1075]
+05/14 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.153, -0.449, 0.029)	[env.py: 1079]
+05/14 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.6 deg	[env.py: 1082]
+05/14 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/14 22:23:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:23:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:23:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:23:51 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:23:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:23:51 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]
+05/14 22:23:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:23:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:23:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.186s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:23:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.567[m] 97.999[deg]	[grasp_sample.py: 539]
+05/14 22:23:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:23:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:23:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:23:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:23:54 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:23:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/14 22:23:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:24:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:24:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:24:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:24:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 11.92s (batch: 2.73s, save: 9.19s)	[pipeline.py: 300]
+05/14 22:24:06 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.44s:
+  episode_total: mean=160.16s, total=160.16s, count=1, min=160155.7ms, max=160155.7ms
+  sensor_polling: mean=374.0ms, total=112.20s, count=300, min=285.3ms, max=612.7ms
+  save_trajectories: mean=9.19s, total=9.19s, count=1, min=9186.4ms, max=9186.4ms
+  physics_step: mean=22.2ms, total=6.66s, count=300, min=17.2ms, max=32.3ms
+  save_batch_prep: mean=2.73s, total=2.73s, count=1, min=2734.3ms, max=2734.3ms
+  task_sampling: mean=439.2ms, total=439.2ms, count=1, min=439.2ms, max=439.2ms
+  task_specific_sample: mean=435.9ms, total=435.9ms, count=1, min=435.9ms, max=435.9ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=356.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=30.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:24:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:24:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:24:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:24:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:24:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:24:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:24:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:24:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:24:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:24:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:24:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041705m	[env.py: 870]
+05/14 22:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:24:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.51971149 -0.04653549  0.04170504] yaw=-122.4deg	[env.py: 1019]
+05/14 22:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.39239032 -0.04583612  0.04170504] yaw=-122.2deg	[env.py: 1019]
+05/14 22:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.1685077  -0.28949979  0.04170504] yaw=-160.3deg	[env.py: 1019]
+05/14 22:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:24:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=237.7ms, total=237.8ms	[env.py: 1075]
+05/14 22:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.520, -0.047, 0.042)	[env.py: 1079]
+05/14 22:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.4 deg	[env.py: 1082]
+05/14 22:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m	[env.py: 1086]
+05/14 22:24:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:24:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:24:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:24:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:24:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:24:09 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:24:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:24:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:24:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:24:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:24:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.897s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:24:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.561[m] 58.352[deg]	[grasp_sample.py: 539]
+05/14 22:24:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:24:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:24:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:24:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:24:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:24:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:24:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:24:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:24:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:25:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:25:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:25:16 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:25:33 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:25:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/14 22:25:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:25:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:25:34 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:25:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:25:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:25:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:25:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:25:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:25:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:25:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:25:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:25:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:25:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:25:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:25:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:25:45 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.004s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:25:45 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 1.185[deg]	[grasp_sample.py: 539]
+05/14 22:25:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:25:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:25:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 12.27s (batch: 2.96s, save: 9.31s)	[pipeline.py: 300]
+05/14 22:25:46 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.57s:
+  episode_total: mean=154.11s, total=154.11s, count=1, min=154110.1ms, max=154110.1ms
+  sensor_polling: mean=370.4ms, total=111.13s, count=300, min=293.4ms, max=633.4ms
+  save_trajectories: mean=9.31s, total=9.31s, count=1, min=9309.9ms, max=9309.9ms
+  physics_step: mean=21.9ms, total=6.58s, count=300, min=15.2ms, max=29.5ms
+  save_batch_prep: mean=2.96s, total=2.96s, count=1, min=2957.6ms, max=2957.6ms
+  task_sampling: mean=568.9ms, total=568.9ms, count=1, min=568.9ms, max=568.9ms
+  task_specific_sample: mean=566.6ms, total=566.6ms, count=1, min=566.6ms, max=566.6ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=382.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=9.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:25:46 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:25:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:25:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:25:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:25:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:25:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:25:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:25:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:25:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:25:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093043m	[env.py: 870]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:25:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 154.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.35985208 -0.21555576  0.09304298] yaw=-124.0deg	[env.py: 1019]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 137.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:25:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=325.6ms, total=325.6ms	[env.py: 1075]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.360, -0.216, 0.093)	[env.py: 1079]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.0 deg	[env.py: 1082]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m	[env.py: 1086]
+05/14 22:25:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:25:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:25:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:25:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:25:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:25:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:25:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:25:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:25:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:25:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:25:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.086m, effective arm-mount z=0.774m (base_body_z=-0.086m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.086145m	[env.py: 870]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:25:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:25:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:25:47 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.23711205 -1.15959387 -0.08614518] yaw=138.9deg	[env.py: 1019]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.11193278 -0.64978519 -0.08614518] yaw=-143.6deg	[env.py: 1019]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.13373028 -0.4806027  -0.08614518] yaw=-169.5deg	[env.py: 1019]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:25:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.8ms, total=127.8ms	[env.py: 1075]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.237, -1.160, -0.086)	[env.py: 1079]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 138.9 deg	[env.py: 1082]
+05/14 22:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m	[env.py: 1086]
+05/14 22:25:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:25:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:25:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:25:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:25:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:25:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:25:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:25:48 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:25:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:25:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:25:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:25:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:25:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.940s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:25:49 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.512[m] 94.618[deg]	[grasp_sample.py: 539]
+05/14 22:25:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:25:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:25:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:25:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:25:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.203s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:25:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.570[m] 113.557[deg]	[grasp_sample.py: 539]
+05/14 22:25:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:25:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:25:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:25:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:25:52 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:25:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/14 22:25:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:26:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:26:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:26:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 12.51s (batch: 3.52s, save: 8.99s)	[pipeline.py: 300]
+05/14 22:26:05 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.58s:
+  episode_total: mean=68.72s, total=137.44s, count=2, min=2255.8ms, max=135188.9ms
+  sensor_polling: mean=313.5ms, total=94.06s, count=300, min=287.0ms, max=636.7ms
+  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8986.8ms, max=8986.8ms
+  physics_step: mean=19.8ms, total=5.93s, count=300, min=14.6ms, max=33.0ms
+  save_batch_prep: mean=3.52s, total=3.52s, count=1, min=3521.5ms, max=3521.5ms
+  task_sampling: mean=289.0ms, total=578.1ms, count=2, min=264.9ms, max=313.2ms
+  task_specific_sample: mean=285.6ms, total=571.1ms, count=2, min=261.3ms, max=309.8ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.5ms, max=2.3ms
+  mj_forward_sync: mean=400.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:26:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:26:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:26:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:26:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:26:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:26:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:26:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:26:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:26:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:26:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:26:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.072m, effective arm-mount z=0.788m (base_body_z=-0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.071890m	[env.py: 870]
+05/14 22:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:26:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.27283185 -0.73868995 -0.07189011] yaw=-202.3deg	[env.py: 1019]
+05/14 22:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 131.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 130.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.56244601 -0.02137697 -0.07189011] yaw=-108.3deg	[env.py: 1019]
+05/14 22:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.5539777  -0.07364307 -0.07189011] yaw=-99.5deg	[env.py: 1019]
+05/14 22:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:26:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.5ms, total=193.5ms	[env.py: 1075]
+05/14 22:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.273, -0.739, -0.072)	[env.py: 1079]
+05/14 22:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -202.3 deg	[env.py: 1082]
+05/14 22:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m	[env.py: 1086]
+05/14 22:26:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:26:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:26:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:26:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:26:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:26:08 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:26:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:26:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:26:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:26:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:26:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.638s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:26:08 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.535[m] 88.371[deg]	[grasp_sample.py: 539]
+05/14 22:26:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:26:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:26:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:26:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:26:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:26:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:26:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:26:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:26:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:26:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:26:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:26:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:26:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:27:50 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:27:59 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:27:59 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:28:09 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:28:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/14 22:28:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:28:16 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:28:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/14 22:28:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:28:17 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:28:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/14 22:28:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:28:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:28:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:28:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 13.46s (batch: 3.82s, save: 9.63s)	[pipeline.py: 300]
+05/14 22:28:23 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.41s:
+  episode_total: mean=135.76s, total=135.76s, count=1, min=135758.3ms, max=135758.3ms
+  sensor_polling: mean=312.0ms, total=93.59s, count=300, min=296.9ms, max=667.7ms
+  save_trajectories: mean=9.63s, total=9.63s, count=1, min=9633.3ms, max=9633.3ms
+  physics_step: mean=20.0ms, total=6.01s, count=300, min=13.9ms, max=27.5ms
+  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3822.7ms, max=3822.7ms
+  task_sampling: mean=412.0ms, total=412.0ms, count=1, min=412.0ms, max=412.0ms
+  task_specific_sample: mean=408.3ms, total=408.3ms, count=1, min=408.3ms, max=408.3ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=419.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:28:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:28:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:28:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:28:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:28:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:28:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:28:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:28:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:28:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:28:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:28:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066365m	[env.py: 870]
+05/14 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:28:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.200421   -0.4927204   0.06636549] yaw=-140.8deg	[env.py: 1019]
+05/14 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.55131225 -0.14921463  0.06636549] yaw=-128.0deg	[env.py: 1019]
+05/14 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 136.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.03676818 -1.26055039  0.06636549] yaw=154.4deg	[env.py: 1019]
+05/14 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:28:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.5ms, total=211.5ms	[env.py: 1075]
+05/14 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.200, -0.493, 0.066)	[env.py: 1079]
+05/14 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.8 deg	[env.py: 1082]
+05/14 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
+05/14 22:28:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:28:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:28:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:28:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:28:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:28:25 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:28:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:28:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:28:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:28:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:28:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.576s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:28:26 INFO: [Worker 0] Feasible grasp found 171 (originally 56): w/ 0.644[m] 118.379[deg]	[grasp_sample.py: 539]
+05/14 22:28:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:28:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:28:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:28:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:28:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:28:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:28:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 11.22s (batch: 2.83s, save: 8.39s)	[pipeline.py: 300]
+05/14 22:28:28 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.79s:
+  episode_total: mean=129.09s, total=258.18s, count=2, min=97677.2ms, max=160498.1ms
+  sensor_polling: mean=385.1ms, total=198.33s, count=515, min=289.1ms, max=723.2ms
+  physics_step: mean=24.2ms, total=12.44s, count=515, min=16.9ms, max=31.8ms
+  save_trajectories: mean=8.39s, total=8.39s, count=1, min=8387.4ms, max=8387.4ms
+  save_batch_prep: mean=2.83s, total=2.83s, count=1, min=2830.7ms, max=2830.7ms
+  task_sampling: mean=394.0ms, total=787.9ms, count=2, min=337.5ms, max=450.5ms
+  task_specific_sample: mean=389.3ms, total=778.6ms, count=2, min=332.6ms, max=446.1ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.3ms, max=2.8ms
+  mj_forward_sync: mean=513.4us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:28:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:28:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:28:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 11.50s (batch: 3.03s, save: 8.47s)	[pipeline.py: 300]
+05/14 22:28:29 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.52s:
+  episode_total: mean=162.35s, total=162.35s, count=1, min=162348.1ms, max=162348.1ms
+  sensor_polling: mean=397.4ms, total=119.21s, count=300, min=302.2ms, max=719.9ms
+  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8469.7ms, max=8469.7ms
+  physics_step: mean=24.4ms, total=7.32s, count=300, min=17.2ms, max=28.6ms
+  save_batch_prep: mean=3.03s, total=3.03s, count=1, min=3027.7ms, max=3027.7ms
+  task_sampling: mean=524.1ms, total=524.1ms, count=1, min=524.1ms, max=524.1ms
+  task_specific_sample: mean=520.6ms, total=520.6ms, count=1, min=520.6ms, max=520.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=417.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:28:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:28:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:28:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:28:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:28:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:28:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:28:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:28:29 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:28:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:28:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:28:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.081m, effective arm-mount z=0.779m (base_body_z=-0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.080578m	[env.py: 870]
+05/14 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:28:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.21189211 -0.86071901 -0.08057789] yaw=204.0deg	[env.py: 1019]
+05/14 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.7° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-2.43717921e-05 -1.18776989e+00 -8.05778879e-02] yaw=181.9deg	[env.py: 1019]
+05/14 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.37394069 -0.04148765 -0.08057789] yaw=-135.9deg	[env.py: 1019]
+05/14 22:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:28:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=299.5ms, total=299.6ms	[env.py: 1075]
+05/14 22:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.212, -0.861, -0.081)	[env.py: 1079]
+05/14 22:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 204.0 deg	[env.py: 1082]
+05/14 22:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m	[env.py: 1086]
+05/14 22:28:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:28:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:28:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:28:30 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:28:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:28:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:28:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:28:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:28:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:28:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:28:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:28:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:28:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:28:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:28:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:28:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:28:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:28:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:28:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068516m	[env.py: 870]
+05/14 22:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:28:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 153.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 140.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.07569269 -0.99990793  0.06851605] yaw=193.6deg	[env.py: 1019]
+05/14 22:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:28:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.969s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:28:31 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.594[m] 88.820[deg]	[grasp_sample.py: 539]
+05/14 22:28:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.12583598 -0.62105614  0.06851605] yaw=-158.6deg	[env.py: 1019]
+05/14 22:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:28:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=706.0ms, total=706.0ms	[env.py: 1075]
+05/14 22:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.076, -1.000, 0.069)	[env.py: 1079]
+05/14 22:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 193.6 deg	[env.py: 1082]
+05/14 22:28:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.165m	[env.py: 1086]
+05/14 22:28:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:28:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:28:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:28:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:28:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:28:32 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:28:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:28:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:28:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:28:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:28:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:28:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:28:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:28:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.959s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:28:34 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:28:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:28:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:28:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:28:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:28:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:28:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:28:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:28:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:28:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:28:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:28:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094813m	[env.py: 870]
+05/14 22:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:28:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.33398197 -0.0401751   0.09481316] yaw=-120.0deg	[env.py: 1019]
+05/14 22:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.25744193 -0.80410382  0.09481316] yaw=-194.5deg	[env.py: 1019]
+05/14 22:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.21339106 -0.1217442   0.09481316] yaw=-148.6deg	[env.py: 1019]
+05/14 22:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:28:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.5ms, total=204.5ms	[env.py: 1075]
+05/14 22:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.334, -0.040, 0.095)	[env.py: 1079]
+05/14 22:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -120.0 deg	[env.py: 1082]
+05/14 22:28:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m	[env.py: 1086]
+05/14 22:28:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:28:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:28:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:28:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:28:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:28:35 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:28:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:28:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:28:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:28:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:28:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.668s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:28:37 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:28:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:28:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:28:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:28:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:28:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:28:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:28:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:28:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:28:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:28:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:28:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011992m	[env.py: 870]
+05/14 22:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:28:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.08403583 -0.27391934  0.0119922 ] yaw=-169.3deg	[env.py: 1019]
+05/14 22:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.03030042 -1.10366056  0.0119922 ] yaw=193.2deg	[env.py: 1019]
+05/14 22:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.20930019 -0.17464257  0.0119922 ] yaw=-126.6deg	[env.py: 1019]
+05/14 22:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:28:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.9ms, total=218.0ms	[env.py: 1075]
+05/14 22:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.084, -0.274, 0.012)	[env.py: 1079]
+05/14 22:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.3 deg	[env.py: 1082]
+05/14 22:28:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.129m	[env.py: 1086]
+05/14 22:28:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:28:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:28:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:28:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:28:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:28:39 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:28:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:28:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:28:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:28:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:28:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.963s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:28:41 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:28:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:28:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:28:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:28:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:28:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:28:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:28:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:28:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:28:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:28:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:28:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032840m	[env.py: 870]
+05/14 22:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:28:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 157.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.4203291   0.08690187  0.03283993] yaw=-119.2deg	[env.py: 1019]
+05/14 22:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.3043816  -1.06506149  0.03283993] yaw=140.7deg	[env.py: 1019]
+05/14 22:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.56206283 -0.04444422  0.03283993] yaw=-99.4deg	[env.py: 1019]
+05/14 22:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:28:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=407.2ms, total=407.2ms	[env.py: 1075]
+05/14 22:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.420, 0.087, 0.033)	[env.py: 1079]
+05/14 22:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -119.2 deg	[env.py: 1082]
+05/14 22:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.115m	[env.py: 1086]
+05/14 22:28:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:28:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:28:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:28:43 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:28:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:28:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:28:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:28:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:28:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.071s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:28:45 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:28:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:28:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:28:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:28:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:28:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:28:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:28:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:28:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:28:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003623m	[env.py: 870]
+05/14 22:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:28:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 138.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.26255078 -1.1723698  -0.00362282] yaw=145.2deg	[env.py: 1019]
+05/14 22:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.29101034 -0.05411618 -0.00362282] yaw=-136.8deg	[env.py: 1019]
+05/14 22:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:28:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=343.5ms, total=343.5ms	[env.py: 1075]
+05/14 22:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.263, -1.172, -0.004)	[env.py: 1079]
+05/14 22:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.2 deg	[env.py: 1082]
+05/14 22:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m	[env.py: 1086]
+05/14 22:28:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:28:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:28:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:28:47 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:28:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:28:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:28:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:28:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:28:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.739s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:28:48 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.544[m] 117.272[deg]	[grasp_sample.py: 539]
+05/14 22:28:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:28:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:28:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:28:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:29:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:29:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:29:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:29:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:29:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:29:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:29:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:29:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:29:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:30:11 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:30:29 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:30:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/14 22:30:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:30:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:30:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:30:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 12.35s (batch: 3.50s, save: 8.85s)	[pipeline.py: 300]
+05/14 22:30:41 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:30:42 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.43s:
+  episode_total: mean=136.87s, total=136.87s, count=1, min=136872.3ms, max=136872.3ms
+  sensor_polling: mean=321.4ms, total=96.43s, count=300, min=295.9ms, max=660.6ms
+  save_trajectories: mean=8.85s, total=8.85s, count=1, min=8848.6ms, max=8848.6ms
+  physics_step: mean=20.6ms, total=6.17s, count=300, min=13.5ms, max=68.8ms
+  save_batch_prep: mean=3.50s, total=3.50s, count=1, min=3503.6ms, max=3503.6ms
+  task_sampling: mean=430.6ms, total=430.6ms, count=1, min=430.6ms, max=430.6ms
+  task_specific_sample: mean=426.8ms, total=426.8ms, count=1, min=426.8ms, max=426.8ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=441.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=28.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:30:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:30:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:30:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:30:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:30:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:30:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:30:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:30:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:30:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:30:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:30:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.022m, effective arm-mount z=0.838m (base_body_z=-0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021793m	[env.py: 870]
+05/14 22:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:30:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.43509645 -0.06610245 -0.02179258] yaw=-141.7deg	[env.py: 1019]
+05/14 22:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.39148491 -0.35116687 -0.02179258] yaw=-169.5deg	[env.py: 1019]
+05/14 22:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:30:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=219.8ms, total=219.9ms	[env.py: 1075]
+05/14 22:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.435, -0.066, -0.022)	[env.py: 1079]
+05/14 22:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.7 deg	[env.py: 1082]
+05/14 22:30:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m	[env.py: 1086]
+05/14 22:30:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:30:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:30:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:30:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:30:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:30:44 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:30:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:30:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:30:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:30:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:30:45 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:30:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.386s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:30:47 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.712[m] 101.465[deg]	[grasp_sample.py: 539]
+05/14 22:30:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:30:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:30:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:30:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:31:00 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:31:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 2/3: 1 episodes	[pipeline.py: 238]
+05/14 22:31:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:31:02 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:31:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/14 22:31:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:31:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:31:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:31:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 11.85s (batch: 3.08s, save: 8.77s)	[pipeline.py: 300]
+05/14 22:31:12 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=2.89s:
+  episode_total: mean=31.25s, total=156.24s, count=5, min=2182.6ms, max=145728.3ms
+  sensor_polling: mean=346.3ms, total=103.90s, count=300, min=303.4ms, max=672.6ms
+  save_trajectories: mean=8.77s, total=8.77s, count=1, min=8768.1ms, max=8768.1ms
+  physics_step: mean=21.6ms, total=6.49s, count=300, min=17.5ms, max=31.3ms
+  save_batch_prep: mean=3.08s, total=3.08s, count=1, min=3077.5ms, max=3077.5ms
+  task_sampling: mean=577.6ms, total=2.89s, count=5, min=402.7ms, max=927.7ms
+  task_specific_sample: mean=574.6ms, total=2.87s, count=5, min=400.2ms, max=924.2ms
+  scene_randomize: mean=1.6ms, total=8.0ms, count=5, min=0.9ms, max=2.3ms
+  mj_forward_sync: mean=455.5us, total=2.3ms, count=5, min=0.3ms, max=0.6ms
+  policy_setup: mean=13.3us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:31:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:31:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:31:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 11.18s (batch: 2.73s, save: 8.44s)	[pipeline.py: 300]
+05/14 22:31:13 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.51s:
+  episode_total: mean=164.04s, total=164.04s, count=1, min=164039.0ms, max=164039.0ms
+  sensor_polling: mean=411.4ms, total=123.41s, count=300, min=297.4ms, max=748.3ms
+  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8442.2ms, max=8442.2ms
+  physics_step: mean=25.2ms, total=7.57s, count=300, min=16.7ms, max=40.9ms
+  save_batch_prep: mean=2.73s, total=2.73s, count=1, min=2733.5ms, max=2733.5ms
+  task_sampling: mean=512.2ms, total=512.2ms, count=1, min=512.2ms, max=512.2ms
+  task_specific_sample: mean=508.6ms, total=508.6ms, count=1, min=508.6ms, max=508.6ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=431.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:31:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:31:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:31:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:31:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:31:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:31:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:31:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:31:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:31:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:31:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:31:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044056m	[env.py: 870]
+05/14 22:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:31:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.00950236 -0.35787634 -0.04405625] yaw=-129.8deg	[env.py: 1019]
+05/14 22:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.24763425 -0.35066298 -0.04405625] yaw=-176.4deg	[env.py: 1019]
+05/14 22:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.05661998 -0.4389575  -0.04405625] yaw=-181.1deg	[env.py: 1019]
+05/14 22:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:31:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=247.6ms, total=247.6ms	[env.py: 1075]
+05/14 22:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.010, -0.358, -0.044)	[env.py: 1079]
+05/14 22:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.8 deg	[env.py: 1082]
+05/14 22:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.177m	[env.py: 1086]
+05/14 22:31:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:31:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:31:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:31:14 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:31:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:31:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:31:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:31:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:31:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:31:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:31:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:31:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:31:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:31:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:31:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:31:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:31:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:31:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:31:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054811m	[env.py: 870]
+05/14 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:31:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.39813125 -0.16092576  0.0548107 ] yaw=-117.0deg	[env.py: 1019]
+05/14 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.33820733 -0.08144122  0.0548107 ] yaw=-160.7deg	[env.py: 1019]
+05/14 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.49270469 -0.24943258  0.0548107 ] yaw=-113.4deg	[env.py: 1019]
+05/14 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:31:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.2ms, total=154.2ms	[env.py: 1075]
+05/14 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.398, -0.161, 0.055)	[env.py: 1079]
+05/14 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -117.0 deg	[env.py: 1082]
+05/14 22:31:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
+05/14 22:31:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:31:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:31:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:31:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:31:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:31:15 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:31:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:31:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:31:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:31:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:31:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.994s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:31:16 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:31:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:31:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:31:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:31:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:31:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:31:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:31:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:31:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:31:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041377m	[env.py: 870]
+05/14 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:31:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.12611625 -0.29519249 -0.04137746] yaw=-124.1deg	[env.py: 1019]
+05/14 22:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 157.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.30580819 -1.13196926 -0.04137746] yaw=183.0deg	[env.py: 1019]
+05/14 22:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.26233939 -0.66777972 -0.04137746] yaw=-195.6deg	[env.py: 1019]
+05/14 22:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:31:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=250.9ms, total=251.0ms	[env.py: 1075]
+05/14 22:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.126, -0.295, -0.041)	[env.py: 1079]
+05/14 22:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.1 deg	[env.py: 1082]
+05/14 22:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m	[env.py: 1086]
+05/14 22:31:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:31:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:31:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:31:18 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:31:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:31:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:31:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:31:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:31:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.491s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:31:20 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.469[m] 89.515[deg]	[grasp_sample.py: 539]
+05/14 22:31:21 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:31:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:31:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:31:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:31:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:31:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:31:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:31:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:31:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:31:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:31:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:31:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037502m	[env.py: 870]
+05/14 22:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:31:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:31:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.035s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:31:22 INFO: [Worker 0] Feasible grasp found 117 (originally 2): w/ 0.894[m] 112.345[deg]	[grasp_sample.py: 539]
+05/14 22:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.01435004 -0.42374131  0.03750218] yaw=-174.9deg	[env.py: 1019]
+05/14 22:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.04147988 -0.70769575  0.03750218] yaw=-160.7deg	[env.py: 1019]
+05/14 22:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.21210385 -1.14744257  0.03750218] yaw=142.5deg	[env.py: 1019]
+05/14 22:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:31:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=370.3ms, total=370.3ms	[env.py: 1075]
+05/14 22:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.014, -0.424, 0.038)	[env.py: 1079]
+05/14 22:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.9 deg	[env.py: 1082]
+05/14 22:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.157m	[env.py: 1086]
+05/14 22:31:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:31:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:31:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:31:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:31:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:31:23 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:31:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:31:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:31:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:31:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:31:23 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/14 22:31:23 WARNING: [Worker 0] Asset Fridge_m (hash: c5ee371e5ee9c94dd64f357b5ff4cf8f) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
+05/14 22:31:25 WARNING: [Worker 0] No trajectory data to save for chunk_301	[pipeline.py: 234]
+05/14 22:31:25 WARNING: [Worker 0] No trajectory data to save for chunk_301	[pipeline.py: 234]
+05/14 22:31:25 INFO: [Worker 0] Worker 0 completed house 1: 8/9 successful episodes	[pipeline.py: 1323]
+05/14 22:31:25 INFO: [Worker 0] [PROFILE] House 1 complete: 8/9 successful, 9 episodes, total_time=2687.67s
+  House averages:
+  episode_total: mean=82.70s, total=1488.52s, count=18, min=2182.6ms, max=181394.4ms
+  sensor_polling: mean=376.7ms, total=1012.82s, count=2689, min=290.3ms, max=719.9ms
+  save_trajectories: mean=8.79s, total=70.28s, count=8, min=8341.3ms, max=9309.9ms
+  physics_step: mean=22.7ms, total=60.93s, count=2689, min=12.9ms, max=63.7ms
+  save_batch_prep: mean=3.23s, total=25.86s, count=8, min=2612.3ms, max=5292.5ms
+  task_sampling: mean=711.8ms, total=12.81s, count=18, min=370.4ms, max=3253.0ms
+  task_specific_sample: mean=560.5ms, total=10.09s, count=18, min=366.5ms, max=924.2ms
+  scene_load: mean=2.65s, total=2.65s, count=1, min=2652.8ms, max=2652.8ms
+  scene_env_create: mean=1.61s, total=1.61s, count=1, min=1614.8ms, max=1614.8ms
+  scene_compile: mean=925.1ms, total=925.1ms, count=1, min=925.1ms, max=925.1ms
+  compile_mujoco: mean=716.4ms, total=716.4ms, count=1, min=716.4ms, max=716.4ms
+  compile_xml_load: mean=139.6ms, total=139.6ms, count=1, min=139.6ms, max=139.6ms
+  scene_init: mean=73.8ms, total=73.8ms, count=1, min=73.8ms, max=73.8ms
+  compile_aux_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  compile_aux_policy_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  scene_asset_install: mean=39.0ms, total=39.0ms, count=1, min=39.0ms, max=39.0ms
+  scene_randomize: mean=1.9ms, total=33.3ms, count=18, min=0.9ms, max=2.9ms
+  asset_install_grasps: mean=28.6ms, total=28.6ms, count=1, min=28.6ms, max=28.6ms
+  compile_robot_add: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms
+  mj_forward_sync: mean=452.3us, total=8.1ms, count=18, min=0.3ms, max=0.6ms
+  asset_install_objects: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms
+  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  policy_setup: mean=16.4us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/14 22:31:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.794s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:31:25 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:31:25 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 22:31:25 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 9 episodes, total_time=2687.67s
+  Worker averages:
+  episode_total: mean=82.70s, total=1488.52s, count=18, min=2182.6ms, max=181394.4ms
+  sensor_polling: mean=376.7ms, total=1012.82s, count=2689, min=290.3ms, max=719.9ms
+  save_trajectories: mean=8.79s, total=70.28s, count=8, min=8341.3ms, max=9309.9ms
+  physics_step: mean=22.7ms, total=60.93s, count=2689, min=12.9ms, max=63.7ms
+  save_batch_prep: mean=3.23s, total=25.86s, count=8, min=2612.3ms, max=5292.5ms
+  task_sampling: mean=711.8ms, total=12.81s, count=18, min=370.4ms, max=3253.0ms
+  task_specific_sample: mean=560.5ms, total=10.09s, count=18, min=366.5ms, max=924.2ms
+  scene_load: mean=2.65s, total=2.65s, count=1, min=2652.8ms, max=2652.8ms
+  scene_env_create: mean=1.61s, total=1.61s, count=1, min=1614.8ms, max=1614.8ms
+  scene_compile: mean=925.1ms, total=925.1ms, count=1, min=925.1ms, max=925.1ms
+  compile_mujoco: mean=716.4ms, total=716.4ms, count=1, min=716.4ms, max=716.4ms
+  compile_xml_load: mean=139.6ms, total=139.6ms, count=1, min=139.6ms, max=139.6ms
+  scene_init: mean=73.8ms, total=73.8ms, count=1, min=73.8ms, max=73.8ms
+  compile_aux_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  compile_aux_policy_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  scene_asset_install: mean=39.0ms, total=39.0ms, count=1, min=39.0ms, max=39.0ms
+  scene_randomize: mean=1.9ms, total=33.3ms, count=18, min=0.9ms, max=2.9ms
+  asset_install_grasps: mean=28.6ms, total=28.6ms, count=1, min=28.6ms, max=28.6ms
+  compile_robot_add: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms
+  mj_forward_sync: mean=452.3us, total=8.1ms, count=18, min=0.3ms, max=0.6ms
+  asset_install_objects: mean=8.0ms, total=8.0ms, count=1, min=8.0ms, max=8.0ms
+  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  policy_setup: mean=16.4us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/14 22:31:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:31:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:31:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:31:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:31:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:31:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:31:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:31:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:31:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:31:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:31:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059207m	[env.py: 870]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:31:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.00126655 -0.29503728  0.05920707] yaw=-151.1deg	[env.py: 1019]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.06428286 -0.95716808  0.05920707] yaw=164.0deg	[env.py: 1019]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:31:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=564.3ms, total=564.3ms	[env.py: 1075]
+05/14 22:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.001, -0.295, 0.059)	[env.py: 1079]
+05/14 22:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.1 deg	[env.py: 1082]
+05/14 22:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.193m	[env.py: 1086]
+05/14 22:31:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:31:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:31:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:31:27 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:31:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:31:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:31:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:31:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:31:28 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 22:31:28 INFO: Success count: 8, Total count: 9	[pipeline.py: 1491]
+05/14 22:31:28 INFO: Success rate: 88.89%	[pipeline.py: 1492]
+05/14 22:31:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.777s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:31:29 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:31:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:31:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:31:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:31:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:31:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:31:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:31:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:31:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:31:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:31:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:31:30 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]
+05/14 22:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.077387m	[env.py: 870]
+05/14 22:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:31:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.04874513 -0.32912436 -0.07738689] yaw=-157.9deg	[env.py: 1019]
+05/14 22:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.24897412 -0.59727686 -0.07738689] yaw=-192.7deg	[env.py: 1019]
+05/14 22:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.49508132 -0.01607996 -0.07738689] yaw=-103.4deg	[env.py: 1019]
+05/14 22:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:31:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=285.4ms, total=285.4ms	[env.py: 1075]
+05/14 22:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.049, -0.329, -0.077)	[env.py: 1079]
+05/14 22:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.9 deg	[env.py: 1082]
+05/14 22:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.135m	[env.py: 1086]
+05/14 22:31:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:31:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:31:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:31:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:31:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:31:30 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:31:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:31:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:31:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:31:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:31:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.796s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:31:32 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:31:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:31:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:31:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:31:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:31:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:31:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:31:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:31:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:31:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020876m	[env.py: 870]
+05/14 22:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:31:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.0° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.3° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.20006036 -1.03429129  0.02087601] yaw=139.9deg	[env.py: 1019]
+05/14 22:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.16735543 -0.43423602  0.02087601] yaw=-150.2deg	[env.py: 1019]
+05/14 22:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:31:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=244.9ms, total=244.9ms	[env.py: 1075]
+05/14 22:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.200, -1.034, 0.021)	[env.py: 1079]
+05/14 22:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 139.9 deg	[env.py: 1082]
+05/14 22:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m	[env.py: 1086]
+05/14 22:31:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:31:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:31:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:31:34 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:31:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:31:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:31:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:31:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:31:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.649s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:31:35 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.525[m] 89.254[deg]	[grasp_sample.py: 539]
+05/14 22:31:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:31:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:31:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:31:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:31:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:31:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:31:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:32:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:32:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:32:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:32:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:32:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:32:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:32:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:32:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:32:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:32:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:32:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:32:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:32:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:32:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:32:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:32:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:32:27 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.150s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:32:27 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.111[m] 0.485[deg]	[grasp_sample.py: 539]
+05/14 22:32:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:32:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:32:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:32:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:32:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:32:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:32:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:32:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:32:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:32:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:32:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:32:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:32:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:32:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:32:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:32:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:32:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:32:41 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.566s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:32:41 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.277[deg]	[grasp_sample.py: 539]
+05/14 22:32:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:32:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:32:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:32:41 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 22:32:41 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=False episode_total=0.47s:
+  episode_total: mean=118.03s, total=118.03s, count=1, min=118028.9ms, max=118028.9ms
+  sensor_polling: mean=319.2ms, total=95.75s, count=300, min=293.7ms, max=660.9ms
+  physics_step: mean=19.5ms, total=5.84s, count=300, min=14.0ms, max=29.7ms
+  task_sampling: mean=465.2ms, total=465.2ms, count=1, min=465.2ms, max=465.2ms
+  task_specific_sample: mean=461.0ms, total=461.0ms, count=1, min=461.0ms, max=461.0ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=505.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:32:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:32:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:32:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:32:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:32:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:32:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:32:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:32:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:32:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:32:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:32:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.056m, effective arm-mount z=0.804m (base_body_z=-0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.055933m	[env.py: 870]
+05/14 22:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:32:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.32938792 -0.31970348 -0.0559333 ] yaw=-174.7deg	[env.py: 1019]
+05/14 22:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 125.2° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 140.1° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.28923327 -0.36797386 -0.0559333 ] yaw=-169.9deg	[env.py: 1019]
+05/14 22:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.56584574 -0.14955522 -0.0559333 ] yaw=-99.2deg	[env.py: 1019]
+05/14 22:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:32:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.5ms, total=116.5ms	[env.py: 1075]
+05/14 22:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.329, -0.320, -0.056)	[env.py: 1079]
+05/14 22:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.7 deg	[env.py: 1082]
+05/14 22:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
+05/14 22:32:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:32:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:32:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:32:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:32:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:32:44 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:32:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:32:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:32:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:32:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:32:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:32:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.324s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:32:47 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.668[m] 103.926[deg]	[grasp_sample.py: 539]
+05/14 22:32:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:32:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:32:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:32:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:32:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:32:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:32:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:32:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:32:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:33:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:33:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:33:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:33:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:33:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/14 22:33:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/14 22:33:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:33:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:33:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:33:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:33:07 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.544s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:33:07 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.666[deg]	[grasp_sample.py: 539]
+05/14 22:33:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:33:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:33:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:33:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:33:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:33:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:33:21 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/14 22:33:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/14 22:33:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:33:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:33:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 70 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:33:25 INFO: [Worker 0] Feasibility-checked 70 grasps in 3.571s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:33:25 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.032[m] 12.563[deg]	[grasp_sample.py: 539]
+05/14 22:33:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:33:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:33:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:33:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:33:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:33:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:33:37 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/14 22:33:37 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=2.69s:
+  episode_total: mean=27.42s, total=137.11s, count=5, min=2414.7ms, max=123465.8ms
+  sensor_polling: mean=309.0ms, total=92.71s, count=300, min=292.1ms, max=713.6ms
+  physics_step: mean=18.8ms, total=5.64s, count=300, min=12.7ms, max=24.6ms
+  task_sampling: mean=537.7ms, total=2.69s, count=5, min=411.4ms, max=771.8ms
+  task_specific_sample: mean=534.5ms, total=2.67s, count=5, min=407.5ms, max=768.1ms
+  scene_randomize: mean=1.5ms, total=7.7ms, count=5, min=1.1ms, max=2.4ms
+  mj_forward_sync: mean=456.6us, total=2.3ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.6us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:33:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:33:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:33:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:33:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:33:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:33:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:33:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:33:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:33:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:33:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:33:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:33:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023783m	[env.py: 870]
+05/14 22:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:33:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.26799391 -0.31124494 -0.02378305] yaw=-129.3deg	[env.py: 1019]
+05/14 22:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:33:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:33:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.12161336 -0.15183255 -0.02378305] yaw=-152.2deg	[env.py: 1019]
+05/14 22:33:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:33:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.27495879 -0.46016745 -0.02378305] yaw=-164.3deg	[env.py: 1019]
+05/14 22:33:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:33:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:33:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.4ms, total=91.5ms	[env.py: 1075]
+05/14 22:33:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.268, -0.311, -0.024)	[env.py: 1079]
+05/14 22:33:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.3 deg	[env.py: 1082]
+05/14 22:33:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
+05/14 22:33:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:33:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:33:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:33:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:33:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:33:39 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:33:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:33:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:33:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:33:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:33:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.056s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:33:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.553[m] 74.860[deg]	[grasp_sample.py: 539]
+05/14 22:33:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:33:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:33:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:33:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:34:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:34:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:34:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:34:27 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:34:45 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:34:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/14 22:34:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:34:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:34:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:34:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 12.38s (batch: 3.57s, save: 8.81s)	[pipeline.py: 300]
+05/14 22:34:58 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.31s:
+  episode_total: mean=134.69s, total=134.69s, count=1, min=134685.7ms, max=134685.7ms
+  sensor_polling: mean=307.9ms, total=92.37s, count=300, min=289.5ms, max=619.6ms
+  save_trajectories: mean=8.81s, total=8.81s, count=1, min=8805.8ms, max=8805.8ms
+  physics_step: mean=18.9ms, total=5.67s, count=300, min=14.7ms, max=26.8ms
+  save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3570.1ms, max=3570.1ms
+  task_sampling: mean=314.7ms, total=314.7ms, count=1, min=314.7ms, max=314.7ms
+  task_specific_sample: mean=311.0ms, total=311.0ms, count=1, min=311.0ms, max=311.0ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=431.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:35:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:35:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:35:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:35:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:35:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:35:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:35:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:35:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:35:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 195]
+05/14 22:35:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:35:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086362m	[env.py: 870]
+05/14 22:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:35:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.8° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.9° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.5° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.4° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.00395316 -1.27151107  0.08636152] yaw=180.9deg	[env.py: 1019]
+05/14 22:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.02294122 -0.53591609  0.08636152] yaw=-170.5deg	[env.py: 1019]
+05/14 22:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:35:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=242.4ms, total=242.4ms	[env.py: 1075]
+05/14 22:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.004, -1.272, 0.086)	[env.py: 1079]
+05/14 22:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.9 deg	[env.py: 1082]
+05/14 22:35:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.163m	[env.py: 1086]
+05/14 22:35:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:35:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:35:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:35:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:35:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:35:00 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:35:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:35:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:35:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:35:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:35:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.314s, found feasible grasp: False	[grasp_sample.py: 500]
+05/14 22:35:03 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/14 22:35:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1090]
+05/14 22:35:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/14 22:35:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 80]
+05/14 22:35:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:35:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:35:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:35:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:35:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/14 22:35:05 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]
+05/14 22:35:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 204]
+05/14 22:35:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 273]
+05/14 22:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/14 22:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.816, 1.346)	[env.py: 845]
+05/14 22:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017877m	[env.py: 870]
+05/14 22:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.200m	[env.py: 871]
+05/14 22:35:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/14 22:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 18780 free points within sampling radius	[env.py: 907]
+05/14 22:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.6° outside wedge [-28.6°, 57.3°], rejecting...	[env.py: 969]
+05/14 22:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.23625811 -0.79682685 -0.01787683] yaw=-168.0deg	[env.py: 1019]
+05/14 22:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/14 22:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.11673539 -1.12091646 -0.01787683] yaw=147.6deg	[env.py: 1019]
+05/14 22:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/14 22:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.08954592 -1.0368075  -0.01787683] yaw=175.0deg	[env.py: 1019]
+05/14 22:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/14 22:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/14 22:35:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.0ms, total=104.1ms	[env.py: 1075]
+05/14 22:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.236, -0.797, -0.018)	[env.py: 1079]
+05/14 22:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.0 deg	[env.py: 1082]
+05/14 22:35:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m	[env.py: 1086]
+05/14 22:35:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/14 22:35:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/14 22:35:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/14 22:35:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/14 22:35:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1143]
+05/14 22:35:05 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/14 22:35:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/14 22:35:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/14 22:35:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/14 22:35:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/14 22:35:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.684s, found feasible grasp: True	[grasp_sample.py: 500]
+05/14 22:35:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.546[m] 108.132[deg]	[grasp_sample.py: 539]
+05/14 22:35:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/14 22:35:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/14 22:35:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:35:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/14 22:35:22 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:35:38 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:35:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 3/3: 1 episodes	[pipeline.py: 238]
+05/14 22:35:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:35:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:35:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:35:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:35:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 11.95s (batch: 2.96s, save: 9.00s)	[pipeline.py: 300]
+05/14 22:35:51 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.31s:
+  episode_total: mean=132.33s, total=132.33s, count=1, min=132328.2ms, max=132328.2ms
+  sensor_polling: mean=311.9ms, total=93.56s, count=300, min=294.3ms, max=663.9ms
+  save_trajectories: mean=9.00s, total=9.00s, count=1, min=8996.2ms, max=8996.2ms
+  physics_step: mean=19.2ms, total=5.75s, count=300, min=13.8ms, max=28.2ms
+  save_batch_prep: mean=2.96s, total=2.96s, count=1, min=2956.2ms, max=2956.2ms
+  task_sampling: mean=312.8ms, total=312.8ms, count=1, min=312.8ms, max=312.8ms
+  task_specific_sample: mean=310.0ms, total=310.0ms, count=1, min=310.0ms, max=310.0ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=408.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:35:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/14 22:35:52 WARNING: [Worker 0] No trajectory data to save for chunk_301	[pipeline.py: 234]
+05/14 22:35:52 WARNING: [Worker 0] No trajectory data to save for chunk_301	[pipeline.py: 234]
+05/14 22:35:52 INFO: [Worker 0] Worker 0 completed house 1: 9/11 successful episodes	[pipeline.py: 1323]
+05/14 22:35:52 INFO: [Worker 0] [PROFILE] House 1 complete: 9/11 successful, 11 episodes, total_time=3234.55s
+  House averages:
+  episode_total: mean=97.53s, total=1755.57s, count=18, min=250.4ms, max=193320.0ms
+  sensor_polling: mean=361.4ms, total=1270.15s, count=3515, min=285.3ms, max=748.3ms
+  save_trajectories: mean=8.72s, total=78.51s, count=9, min=8387.4ms, max=9186.4ms
+  physics_step: mean=21.9ms, total=76.92s, count=3515, min=12.7ms, max=90.1ms
+  save_batch_prep: mean=2.92s, total=26.25s, count=9, min=2691.8ms, max=3872.9ms
+  task_sampling: mean=663.1ms, total=11.27s, count=17, min=312.8ms, max=3493.8ms
+  task_specific_sample: mean=476.3ms, total=8.57s, count=18, min=243.5ms, max=768.1ms
+  scene_load: mean=2.89s, total=2.89s, count=1, min=2885.9ms, max=2885.9ms
+  scene_env_create: mean=1.60s, total=1.60s, count=1, min=1599.7ms, max=1599.7ms
+  scene_compile: mean=1.17s, total=1.17s, count=1, min=1170.4ms, max=1170.4ms
+  compile_mujoco: mean=723.2ms, total=723.2ms, count=1, min=723.2ms, max=723.2ms
+  compile_xml_load: mean=376.2ms, total=376.2ms, count=1, min=376.2ms, max=376.2ms
+  task_sampling_failed: mean=250.4ms, total=250.4ms, count=1, min=250.4ms, max=250.4ms
+  scene_init: mean=74.9ms, total=74.9ms, count=1, min=74.9ms, max=74.9ms
+  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  scene_asset_install: mean=40.7ms, total=40.7ms, count=1, min=40.7ms, max=40.7ms
+  scene_randomize: mean=1.8ms, total=31.7ms, count=18, min=1.0ms, max=2.8ms
+  asset_install_grasps: mean=28.4ms, total=28.4ms, count=1, min=28.4ms, max=28.4ms
+  compile_robot_add: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms
+  asset_install_objects: mean=9.3ms, total=9.3ms, count=1, min=9.3ms, max=9.3ms
+  mj_forward_sync: mean=426.1us, total=7.7ms, count=18, min=0.3ms, max=0.6ms
+  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  policy_setup: mean=25.5us, total=0.4ms, count=17, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/14 22:35:52 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 22:35:52 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=3234.55s
+  Worker averages:
+  episode_total: mean=97.53s, total=1755.57s, count=18, min=250.4ms, max=193320.0ms
+  sensor_polling: mean=361.4ms, total=1270.15s, count=3515, min=285.3ms, max=748.3ms
+  save_trajectories: mean=8.72s, total=78.51s, count=9, min=8387.4ms, max=9186.4ms
+  physics_step: mean=21.9ms, total=76.92s, count=3515, min=12.7ms, max=90.1ms
+  save_batch_prep: mean=2.92s, total=26.25s, count=9, min=2691.8ms, max=3872.9ms
+  task_sampling: mean=663.1ms, total=11.27s, count=17, min=312.8ms, max=3493.8ms
+  task_specific_sample: mean=476.3ms, total=8.57s, count=18, min=243.5ms, max=768.1ms
+  scene_load: mean=2.89s, total=2.89s, count=1, min=2885.9ms, max=2885.9ms
+  scene_env_create: mean=1.60s, total=1.60s, count=1, min=1599.7ms, max=1599.7ms
+  scene_compile: mean=1.17s, total=1.17s, count=1, min=1170.4ms, max=1170.4ms
+  compile_mujoco: mean=723.2ms, total=723.2ms, count=1, min=723.2ms, max=723.2ms
+  compile_xml_load: mean=376.2ms, total=376.2ms, count=1, min=376.2ms, max=376.2ms
+  task_sampling_failed: mean=250.4ms, total=250.4ms, count=1, min=250.4ms, max=250.4ms
+  scene_init: mean=74.9ms, total=74.9ms, count=1, min=74.9ms, max=74.9ms
+  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  scene_asset_install: mean=40.7ms, total=40.7ms, count=1, min=40.7ms, max=40.7ms
+  scene_randomize: mean=1.8ms, total=31.7ms, count=18, min=1.0ms, max=2.8ms
+  asset_install_grasps: mean=28.4ms, total=28.4ms, count=1, min=28.4ms, max=28.4ms
+  compile_robot_add: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms
+  asset_install_objects: mean=9.3ms, total=9.3ms, count=1, min=9.3ms, max=9.3ms
+  mj_forward_sync: mean=426.1us, total=7.7ms, count=18, min=0.3ms, max=0.6ms
+  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  policy_setup: mean=25.5us, total=0.4ms, count=17, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/14 22:35:54 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 22:35:54 INFO: Success count: 9, Total count: 11	[pipeline.py: 1491]
+05/14 22:35:54 INFO: Success rate: 81.82%	[pipeline.py: 1492]
+05/14 22:35:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/14 22:36:52 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/14 22:37:12 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[pipeline.py: 1174]
+05/14 22:37:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_301 batch 1/3: 1 episodes	[pipeline.py: 238]
+05/14 22:37:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/14 22:37:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/14 22:37:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_v2_3gpu/sim_chunks/chunk_301	[save_utils.py: 785]
+05/14 22:37:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_301 in 13.75s (batch: 4.70s, save: 9.05s)	[pipeline.py: 300]
+05/14 22:37:27 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.76s:
+  episode_total: mean=72.43s, total=144.86s, count=2, min=2918.1ms, max=141945.4ms
+  sensor_polling: mean=327.3ms, total=98.20s, count=300, min=299.5ms, max=689.2ms
+  save_trajectories: mean=9.05s, total=9.05s, count=1, min=9050.5ms, max=9050.5ms
+  physics_step: mean=19.8ms, total=5.93s, count=300, min=13.9ms, max=27.1ms
+  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4700.2ms, max=4700.2ms
+  task_sampling: mean=377.6ms, total=755.2ms, count=2, min=301.9ms, max=453.3ms
+  task_specific_sample: mean=372.7ms, total=745.3ms, count=2, min=295.8ms, max=449.6ms
+  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=2.0ms, max=2.3ms
+  mj_forward_sync: mean=447.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/14 22:37:28 WARNING: [Worker 0] No trajectory data to save for chunk_301	[pipeline.py: 234]
+05/14 22:37:28 WARNING: [Worker 0] No trajectory data to save for chunk_301	[pipeline.py: 234]
+05/14 22:37:28 INFO: [Worker 0] Worker 0 completed house 1: 9/12 successful episodes	[pipeline.py: 1323]
+05/14 22:37:28 INFO: [Worker 0] [PROFILE] House 1 complete: 9/12 successful, 12 episodes, total_time=3363.48s
+  House averages:
+  episode_total: mean=102.34s, total=1842.15s, count=18, min=2255.8ms, max=190612.5ms
+  sensor_polling: mean=335.4ms, total=1301.66s, count=3881, min=287.0ms, max=729.0ms
+  save_trajectories: mean=9.07s, total=81.65s, count=9, min=8354.9ms, max=10253.4ms
+  physics_step: mean=20.4ms, total=79.24s, count=3881, min=12.3ms, max=77.6ms
+  save_batch_prep: mean=3.73s, total=33.60s, count=9, min=3016.9ms, max=4700.2ms
+  task_sampling: mean=592.1ms, total=10.66s, count=18, min=264.9ms, max=3391.1ms
+  task_specific_sample: mean=431.9ms, total=7.77s, count=18, min=261.3ms, max=757.5ms
+  scene_load: mean=2.80s, total=2.80s, count=1, min=2801.6ms, max=2801.6ms
+  scene_env_create: mean=1.65s, total=1.65s, count=1, min=1651.8ms, max=1651.8ms
+  scene_compile: mean=1.03s, total=1.03s, count=1, min=1030.3ms, max=1030.3ms
+  compile_mujoco: mean=695.2ms, total=695.2ms, count=1, min=695.2ms, max=695.2ms
+  compile_xml_load: mean=257.6ms, total=257.6ms, count=1, min=257.6ms, max=257.6ms
+  scene_init: mean=80.1ms, total=80.1ms, count=1, min=80.1ms, max=80.1ms
+  compile_aux_objects: mean=44.7ms, total=44.7ms, count=1, min=44.7ms, max=44.7ms
+  compile_aux_policy_objects: mean=44.7ms, total=44.7ms, count=1, min=44.7ms, max=44.7ms
+  scene_randomize: mean=2.3ms, total=41.4ms, count=18, min=1.3ms, max=3.7ms
+  scene_asset_install: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  asset_install_grasps: mean=28.3ms, total=28.3ms, count=1, min=28.3ms, max=28.3ms
+  compile_robot_add: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms
+  mj_forward_sync: mean=630.8us, total=11.4ms, count=18, min=0.3ms, max=4.0ms
+  asset_install_objects: mean=8.3ms, total=8.3ms, count=1, min=8.3ms, max=8.3ms
+  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  policy_setup: mean=25.2us, total=0.5ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/14 22:37:28 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/14 22:37:28 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=3363.48s
+  Worker averages:
+  episode_total: mean=102.34s, total=1842.15s, count=18, min=2255.8ms, max=190612.5ms
+  sensor_polling: mean=335.4ms, total=1301.66s, count=3881, min=287.0ms, max=729.0ms
+  save_trajectories: mean=9.07s, total=81.65s, count=9, min=8354.9ms, max=10253.4ms
+  physics_step: mean=20.4ms, total=79.24s, count=3881, min=12.3ms, max=77.6ms
+  save_batch_prep: mean=3.73s, total=33.60s, count=9, min=3016.9ms, max=4700.2ms
+  task_sampling: mean=592.1ms, total=10.66s, count=18, min=264.9ms, max=3391.1ms
+  task_specific_sample: mean=431.9ms, total=7.77s, count=18, min=261.3ms, max=757.5ms
+  scene_load: mean=2.80s, total=2.80s, count=1, min=2801.6ms, max=2801.6ms
+  scene_env_create: mean=1.65s, total=1.65s, count=1, min=1651.8ms, max=1651.8ms
+  scene_compile: mean=1.03s, total=1.03s, count=1, min=1030.3ms, max=1030.3ms
+  compile_mujoco: mean=695.2ms, total=695.2ms, count=1, min=695.2ms, max=695.2ms
+  compile_xml_load: mean=257.6ms, total=257.6ms, count=1, min=257.6ms, max=257.6ms
+  scene_init: mean=80.1ms, total=80.1ms, count=1, min=80.1ms, max=80.1ms
+  compile_aux_objects: mean=44.7ms, total=44.7ms, count=1, min=44.7ms, max=44.7ms
+  compile_aux_policy_objects: mean=44.7ms, total=44.7ms, count=1, min=44.7ms, max=44.7ms
+  scene_randomize: mean=2.3ms, total=41.4ms, count=18, min=1.3ms, max=3.7ms
+  scene_asset_install: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  asset_install_grasps: mean=28.3ms, total=28.3ms, count=1, min=28.3ms, max=28.3ms
+  compile_robot_add: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms
+  mj_forward_sync: mean=630.8us, total=11.4ms, count=18, min=0.3ms, max=4.0ms
+  asset_install_objects: mean=8.3ms, total=8.3ms, count=1, min=8.3ms, max=8.3ms
+  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  policy_setup: mean=25.2us, total=0.5ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/14 22:37:31 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/14 22:37:31 INFO: Success count: 9, Total count: 12	[pipeline.py: 1491]
+05/14 22:37:31 INFO: Success rate: 75.00%	[pipeline.py: 1492]
diff --git a/fridge_m_v2/sim_chunks/chunk_301/trajectories_batch_1_of_3_cam_rand.h5 b/fridge_m_v2/sim_chunks/chunk_301/trajectories_batch_1_of_3_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b8ea53bcf165c7a13daf54f034595b944108a4f0
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/trajectories_batch_1_of_3_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eec33126624422e8749c001e05af8d5e1f7f85dc7df8593f378236aa523e4b37
+size 708767686
diff --git a/fridge_m_v2/sim_chunks/chunk_301/trajectories_batch_2_of_3_cam_rand.h5 b/fridge_m_v2/sim_chunks/chunk_301/trajectories_batch_2_of_3_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c19b75f239ffc67e80867a2d71b60c18ca96fb10
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/trajectories_batch_2_of_3_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b64bc1ed3c173ef6112cdd62b34fb682599f11d563ef1bae529405e456a00408
+size 598495970
diff --git a/fridge_m_v2/sim_chunks/chunk_301/trajectories_batch_3_of_3_cam_rand.h5 b/fridge_m_v2/sim_chunks/chunk_301/trajectories_batch_3_of_3_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ff4fd53438ae6cf6f9c94136e5856e90ceb4f06c
--- /dev/null
+++ b/fridge_m_v2/sim_chunks/chunk_301/trajectories_batch_3_of_3_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a01606dfa18155a899e08bd90cc01a9836653b3d81f0e1a6292594f15811a587
+size 696250075