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diff --git a/fridge_7/running_log.log b/fridge_7/running_log.log
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 05/10 11:26:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 76 non-colliding grasps	[grasp_sample.py: 465]
 05/10 11:26:05 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.058s, found feasible grasp: True	[grasp_sample.py: 500]
 05/10 11:26:05 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.264[deg]	[grasp_sample.py: 539]
+05/10 11:26:07 ERROR: [Worker 0] Worker 0 house 1 episode 167 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 11:26:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:26:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:26:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:26:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:26:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:26:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:26:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:26:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:26:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:26:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:26:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023094m	[env.py: 870]
+05/10 11:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:26:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05931724  1.00896145  0.02309407] yaw=-151.3deg	[env.py: 1019]
+05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72382183  0.50284685  0.02309407] yaw=-183.5deg	[env.py: 1019]
+05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.70875446  0.71139531  0.02309407] yaw=-163.5deg	[env.py: 1019]
+05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:26:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=340.6ms, total=340.7ms	[env.py: 1075]
+05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.059, 1.009, 0.023)	[env.py: 1079]
+05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.3 deg	[env.py: 1082]
+05/10 11:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
+05/10 11:26:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:26:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:26:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:26:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:26:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:26:09 INFO: [Worker 0] Worker 0 house 1 episode 168/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:26:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:26:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:26:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:26:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:26:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.917s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:26:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.410[m] 85.805[deg]	[grasp_sample.py: 539]
+05/10 11:26:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:26:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:26:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:26:14 INFO: [Worker 0] Worker 0 house 1 episode 175 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:26:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:26:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:26:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:26:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:26:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:26:40 INFO: [Worker 0] Saved videos eagerly for episode 129 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:26:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 11:26:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:26:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:26:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:26:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:26:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:26:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.52s (batch: 4.27s, save: 8.26s)	[pipeline.py: 300]
+05/10 11:26:53 INFO: [Worker 0] [PROFILE] Episode 175 house 1 success=True episode_total=1.06s:
+  episode_total: mean=184.92s, total=369.84s, count=2, min=167797.1ms, max=202038.9ms
+  sensor_polling: mean=498.5ms, total=288.64s, count=579, min=416.6ms, max=862.6ms
+  physics_step: mean=24.8ms, total=14.34s, count=579, min=15.8ms, max=81.9ms
+  save_trajectories: mean=8.26s, total=8.26s, count=1, min=8257.0ms, max=8257.0ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4266.8ms, max=4266.8ms
+  task_sampling: mean=531.9ms, total=1.06s, count=2, min=431.6ms, max=632.2ms
+  task_specific_sample: mean=528.0ms, total=1.06s, count=2, min=427.3ms, max=628.8ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.3ms, max=2.8ms
+  mj_forward_sync: mean=505.6us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:26:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:26:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:26:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:26:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:26:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:26:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:26:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:26:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:26:55 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: 256]
+05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042937m	[env.py: 870]
+05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:26:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84426868  1.06903067 -0.0429368 ] yaw=-138.8deg	[env.py: 1019]
+05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64929865  0.30007154 -0.0429368 ] yaw=178.3deg	[env.py: 1019]
+05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13799444  1.18115173 -0.0429368 ] yaw=-136.7deg	[env.py: 1019]
+05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:26:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=65.1ms, total=65.1ms	[env.py: 1075]
+05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.844, 1.069, -0.043)	[env.py: 1079]
+05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.8 deg	[env.py: 1082]
+05/10 11:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m	[env.py: 1086]
+05/10 11:26:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:26:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:26:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:26:55 INFO: [Worker 0] Worker 0 house 1 episode 176/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:26:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:26:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:26:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:26:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:26:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.106s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:26:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.591[m] 82.187[deg]	[grasp_sample.py: 539]
+05/10 11:26:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:26:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:26:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:26:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:27:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:27:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:27:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:27:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:27:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:27:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:27:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:27:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:27:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:27:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:27:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:27:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:27:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:27:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:27:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:28:00 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.478s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:28:00 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.259[deg]	[grasp_sample.py: 539]
+05/10 11:28:00 ERROR: [Worker 0] Worker 0 house 1 episode 180 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 11:28:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:28:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:28:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:28:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:28:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:28:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:28:02 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: 178]
+05/10 11:28:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:28:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034714m	[env.py: 870]
+05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:28:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81858659  0.30285567  0.03471391] yaw=164.6deg	[env.py: 1019]
+05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99349832  0.33667785  0.03471391] yaw=161.9deg	[env.py: 1019]
+05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:28:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=316.5ms, total=316.5ms	[env.py: 1075]
+05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.819, 0.303, 0.035)	[env.py: 1079]
+05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.6 deg	[env.py: 1082]
+05/10 11:28:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m	[env.py: 1086]
+05/10 11:28:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:28:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:28:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:28:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:28:03 INFO: [Worker 0] Worker 0 house 1 episode 181/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:28:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:28:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:28:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:28:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:28:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.466s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:28:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.429[m] 83.689[deg]	[grasp_sample.py: 539]
+05/10 11:28:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:28:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:28:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:28:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:28:07 INFO: [Worker 0] Worker 0 house 1 episode 169 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:28:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:28:32 INFO: [Worker 0] Saved videos eagerly for episode 123 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:28:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 11:28:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:28:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:28:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:28:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:28:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:28:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:28:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:28:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:28:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:28:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:28:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:28:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.30s (batch: 4.03s, save: 8.27s)	[pipeline.py: 300]
+05/10 11:28:45 INFO: [Worker 0] [PROFILE] Episode 169 house 1 success=True episode_total=0.46s:
+  episode_total: mean=195.68s, total=195.68s, count=1, min=195675.0ms, max=195675.0ms
+  sensor_polling: mean=484.9ms, total=145.48s, count=300, min=404.3ms, max=908.5ms
+  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8271.3ms, max=8271.3ms
+  physics_step: mean=23.9ms, total=7.17s, count=300, min=13.8ms, max=63.4ms
+  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4033.2ms, max=4033.2ms
+  task_sampling: mean=461.9ms, total=461.9ms, count=1, min=461.9ms, max=461.9ms
+  task_specific_sample: mean=458.1ms, total=458.1ms, count=1, min=458.1ms, max=458.1ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=419.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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]
+05/10 11:28:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:28:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:28:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:28:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:28:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:28:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:28:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:28:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:28:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:28:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:28:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:28:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:28:46 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: 178]
+05/10 11:28:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:28:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004655m	[env.py: 870]
+05/10 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:28:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0696489   0.96222831  0.00465479] yaw=-136.0deg	[env.py: 1019]
+05/10 11:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87246007  0.99123187  0.00465479] yaw=-143.1deg	[env.py: 1019]
+05/10 11:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:28:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=587.8ms, total=587.8ms	[env.py: 1075]
+05/10 11:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.070, 0.962, 0.005)	[env.py: 1079]
+05/10 11:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.0 deg	[env.py: 1082]
+05/10 11:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.794m	[env.py: 1086]
+05/10 11:28:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:28:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:28:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:28:47 INFO: [Worker 0] Worker 0 house 1 episode 170/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:28:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:28:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:28:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:28:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:28:48 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.395s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:28:48 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.380[deg]	[grasp_sample.py: 539]
+05/10 11:28:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.857s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:28:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.378[m] 89.141[deg]	[grasp_sample.py: 539]
+05/10 11:28:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:28:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:28:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:28:49 ERROR: [Worker 0] Worker 0 house 1 episode 168 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 11:28:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:28:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:28:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:28:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:28:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:28:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:28:51 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: 178]
+05/10 11:28:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:28:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045720m	[env.py: 870]
+05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:28:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9216122   0.51471038 -0.04572029] yaw=-175.2deg	[env.py: 1019]
+05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8815997   0.41212408 -0.04572029] yaw=172.3deg	[env.py: 1019]
+05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01867807  0.31680701 -0.04572029] yaw=163.3deg	[env.py: 1019]
+05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:28:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.2ms, retries=110.1ms, total=110.2ms	[env.py: 1075]
+05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.922, 0.515, -0.046)	[env.py: 1079]
+05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.2 deg	[env.py: 1082]
+05/10 11:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.781m	[env.py: 1086]
+05/10 11:28:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:28:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:28:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:28:51 INFO: [Worker 0] Worker 0 house 1 episode 169/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:28:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:28:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:28:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:28:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:28:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.414s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:28:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.326[m] 85.553[deg]	[grasp_sample.py: 539]
+05/10 11:28:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:28:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:28:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:28:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:28:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:29:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:29:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:29:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:29:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:29:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:29:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:29:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:29:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:29:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:29:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:29:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:29:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:29:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:29:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:29:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:29:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:29:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:29:35 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.341s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:29:35 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.115[m] 2.706[deg]	[grasp_sample.py: 539]
+05/10 11:29:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:29:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:29:35 INFO: [Worker 0] Worker 0 house 1 episode 176 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:29:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:29:58 INFO: [Worker 0] Saved videos eagerly for episode 130 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:29:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 11:29:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:30:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:30:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:30:11 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.33s (batch: 4.08s, save: 9.25s)	[pipeline.py: 300]
+05/10 11:30:12 INFO: [Worker 0] [PROFILE] Episode 176 house 1 success=True episode_total=0.38s:
+  episode_total: mean=197.16s, total=197.16s, count=1, min=197160.4ms, max=197160.4ms
+  sensor_polling: mean=462.8ms, total=138.84s, count=300, min=393.4ms, max=833.6ms
+  save_trajectories: mean=9.25s, total=9.25s, count=1, min=9250.5ms, max=9250.5ms
+  physics_step: mean=22.1ms, total=6.64s, count=300, min=14.1ms, max=80.5ms
+  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4082.5ms, max=4082.5ms
+  task_sampling: mean=376.7ms, total=376.7ms, count=1, min=376.7ms, max=376.7ms
+  task_specific_sample: mean=373.2ms, total=373.2ms, count=1, min=373.2ms, max=373.2ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=393.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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]
+05/10 11:30:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:30:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:30:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:30:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:30:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:30:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:30:14 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: 178]
+05/10 11:30:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:30:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034431m	[env.py: 870]
+05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:30:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82766499  0.49673224 -0.03443088] yaw=-174.3deg	[env.py: 1019]
+05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04911179  1.13182794 -0.03443088] yaw=-133.9deg	[env.py: 1019]
+05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.93297676  0.56762604 -0.03443088] yaw=-172.8deg	[env.py: 1019]
+05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:30:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=509.6ms, total=509.6ms	[env.py: 1075]
+05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.828, 0.497, -0.034)	[env.py: 1079]
+05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.3 deg	[env.py: 1082]
+05/10 11:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
+05/10 11:30:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:30:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:30:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:30:14 INFO: [Worker 0] Worker 0 house 1 episode 177/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:30:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:30:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:30:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:30:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:30:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.931s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:30:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.417[m] 85.167[deg]	[grasp_sample.py: 539]
+05/10 11:30:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:30:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:30:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:30:33 INFO: [Worker 0] Worker 0 house 1 episode 181 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:30:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:31:02 INFO: [Worker 0] Saved videos eagerly for episode 119 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:31:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 11:31:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:31:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:31:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:31:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:31:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:31:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:31:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.24s (batch: 4.10s, save: 8.13s)	[pipeline.py: 300]
+05/10 11:31:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:31:15 INFO: [Worker 0] [PROFILE] Episode 181 house 1 success=True episode_total=1.39s:
+  episode_total: mean=168.24s, total=336.48s, count=2, min=143121.1ms, max=193357.3ms
+  sensor_polling: mean=465.7ms, total=257.99s, count=554, min=387.0ms, max=905.9ms
+  physics_step: mean=22.3ms, total=12.36s, count=554, min=16.3ms, max=76.9ms
+  save_trajectories: mean=8.13s, total=8.13s, count=1, min=8132.8ms, max=8132.8ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4103.0ms, max=4103.0ms
+  task_sampling: mean=695.5ms, total=1.39s, count=2, min=605.7ms, max=785.4ms
+  task_specific_sample: mean=692.1ms, total=1.38s, count=2, min=603.1ms, max=781.1ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.1ms, max=2.9ms
+  mj_forward_sync: mean=486.3us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=16.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:31:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:31:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:31:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:31:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:31:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:31:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:31:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:31:17 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: 178]
+05/10 11:31:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:31:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028561m	[env.py: 870]
+05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:31:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97480772  0.69236098 -0.02856121] yaw=-168.9deg	[env.py: 1019]
+05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89904038  0.82830585 -0.02856121] yaw=-159.9deg	[env.py: 1019]
+05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68447551  0.30761348 -0.02856121] yaw=168.7deg	[env.py: 1019]
+05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:31:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=233.4ms, total=233.5ms	[env.py: 1075]
+05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.975, 0.692, -0.029)	[env.py: 1079]
+05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.9 deg	[env.py: 1082]
+05/10 11:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.757m	[env.py: 1086]
+05/10 11:31:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:31:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:31:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:31:18 INFO: [Worker 0] Worker 0 house 1 episode 182/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:31:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:31:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:31:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:31:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:31:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.179s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:31:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.289[m] 78.768[deg]	[grasp_sample.py: 539]
+05/10 11:31:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:31:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:31:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:31:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:31:20 INFO: [Worker 0] Worker 0 house 1 episode 169 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:31:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:31:22 INFO: [Worker 0] Worker 0 house 1 episode 170 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:31:45 INFO: [Worker 0] Saved videos eagerly for episode 124 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:31:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 11:31:45 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
+05/10 11:31:45 INFO: [Worker 0] Saved videos eagerly for episode 130 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:31:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 11:31:45 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/10 11:31:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:31:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:31:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:31:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:31:56 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.28s (batch: 4.11s, save: 7.16s)	[pipeline.py: 300]
+05/10 11:31:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:31:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:31:56 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.55s (batch: 4.06s, save: 7.49s)	[pipeline.py: 300]
+05/10 11:31:56 INFO: [Worker 0] [PROFILE] Episode 169 house 1 success=True episode_total=1.68s:
+  episode_total: mean=171.42s, total=514.26s, count=3, min=160396.2ms, max=185942.2ms
+  sensor_polling: mean=477.0ms, total=411.63s, count=863, min=387.9ms, max=886.5ms
+  physics_step: mean=23.1ms, total=19.93s, count=863, min=13.6ms, max=88.9ms
+  save_trajectories: mean=7.16s, total=7.16s, count=1, min=7163.6ms, max=7163.6ms
+  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4112.0ms, max=4112.0ms
+  task_sampling: mean=558.5ms, total=1.68s, count=3, min=351.4ms, max=676.8ms
+  task_specific_sample: mean=553.9ms, total=1.66s, count=3, min=345.1ms, max=673.2ms
+  scene_randomize: mean=2.0ms, total=5.9ms, count=3, min=1.7ms, max=2.4ms
+  mj_forward_sync: mean=470.1us, total=1.4ms, count=3, min=0.4ms, max=0.7ms
+  policy_setup: mean=16.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:31:57 INFO: [Worker 0] [PROFILE] Episode 170 house 1 success=True episode_total=0.86s:
+  episode_total: mean=190.44s, total=190.44s, count=1, min=190436.7ms, max=190436.7ms
+  sensor_polling: mean=460.0ms, total=137.09s, count=298, min=396.7ms, max=977.3ms
+  save_trajectories: mean=7.49s, total=7.49s, count=1, min=7488.3ms, max=7488.3ms
+  physics_step: mean=21.3ms, total=6.34s, count=298, min=13.6ms, max=61.2ms
+  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4059.3ms, max=4059.3ms
+  task_sampling: mean=862.1ms, total=862.1ms, count=1, min=862.1ms, max=862.1ms
+  task_specific_sample: mean=858.3ms, total=858.3ms, count=1, min=858.3ms, max=858.3ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=443.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.9us, 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]
+05/10 11:31:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:31:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:31:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:31:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:31:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:31:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:31:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042407m	[env.py: 870]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:31:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.84306077  0.13187717 -0.04240732] yaw=147.1deg	[env.py: 1019]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:31:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=227.5ms, total=227.6ms	[env.py: 1075]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.843, 0.132, -0.042)	[env.py: 1079]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.1 deg	[env.py: 1082]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m	[env.py: 1086]
+05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:31:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:31:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:31:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:31:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:31:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:31:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:31:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:31:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015538m	[env.py: 870]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:31:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.23903898  1.01464666  0.01553768] yaw=-126.5deg	[env.py: 1019]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05638572  1.25813447  0.01553768] yaw=-127.1deg	[env.py: 1019]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:31:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:31:58 INFO: [Worker 0] Worker 0 house 1 episode 170/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:31:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76932876  0.75584075  0.01553768] yaw=-169.2deg	[env.py: 1019]
+05/10 11:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:31:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=228.3ms, total=228.3ms	[env.py: 1075]
+05/10 11:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.239, 1.015, 0.016)	[env.py: 1079]
+05/10 11:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.5 deg	[env.py: 1082]
+05/10 11:31:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.706m	[env.py: 1086]
+05/10 11:31:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:31:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:31:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:31:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:31:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:31:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:31:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:31:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:31:59 INFO: [Worker 0] Worker 0 house 1 episode 171/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:31:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:31:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:31:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:31:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:31:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.510s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:31:59 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.499[m] 90.846[deg]	[grasp_sample.py: 539]
+05/10 11:31:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:31:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:31:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:31:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.286[m] 91.821[deg]	[grasp_sample.py: 539]
+05/10 11:31:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:32:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:32:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:32:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:32:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:32:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:32:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:32:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:32:51 INFO: [Worker 0] Worker 0 house 1 episode 177 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:32:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:33:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:33:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:33:16 INFO: [Worker 0] Saved videos eagerly for episode 131 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:33:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 11:33:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:33:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:33:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:33:31 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.71s (batch: 4.90s, save: 9.81s)	[pipeline.py: 300]
+05/10 11:33:32 INFO: [Worker 0] [PROFILE] Episode 177 house 1 success=True episode_total=0.86s:
+  episode_total: mean=198.21s, total=198.21s, count=1, min=198208.9ms, max=198208.9ms
+  sensor_polling: mean=477.3ms, total=143.20s, count=300, min=392.6ms, max=988.5ms
+  save_trajectories: mean=9.81s, total=9.81s, count=1, min=9810.7ms, max=9810.7ms
+  physics_step: mean=21.9ms, total=6.58s, count=300, min=16.9ms, max=48.1ms
+  save_batch_prep: mean=4.90s, total=4.90s, count=1, min=4901.7ms, max=4901.7ms
+  task_sampling: mean=863.6ms, total=863.6ms, count=1, min=863.6ms, max=863.6ms
+  task_specific_sample: mean=859.8ms, total=859.8ms, count=1, min=859.8ms, max=859.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=475.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:33:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:33:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:33:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:33:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:33:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:33:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:33:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:33:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:33:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:33:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:33:33 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: 256]
+05/10 11:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024055m	[env.py: 870]
+05/10 11:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:33:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03878109  0.24141728 -0.02405509] yaw=168.4deg	[env.py: 1019]
+05/10 11:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09193433  0.87887751 -0.02405509] yaw=-145.4deg	[env.py: 1019]
+05/10 11:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73756173  0.93338721 -0.02405509] yaw=-158.2deg	[env.py: 1019]
+05/10 11:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:33:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.1ms, total=158.2ms	[env.py: 1075]
+05/10 11:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.039, 0.241, -0.024)	[env.py: 1079]
+05/10 11:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.4 deg	[env.py: 1082]
+05/10 11:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.706m	[env.py: 1086]
+05/10 11:33:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:33:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:33:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:33:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:33:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:33:34 INFO: [Worker 0] Worker 0 house 1 episode 178/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:33:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:33:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:33:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:33:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:33:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.542s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:33:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.340[m] 103.984[deg]	[grasp_sample.py: 539]
+05/10 11:33:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:33:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:33:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:33:43 INFO: [Worker 0] Worker 0 house 1 episode 182 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:34:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:34:04 INFO: [Worker 0] Saved videos eagerly for episode 120 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:34:04 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 11:34:04 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
+05/10 11:34:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:34:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:34:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:34:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:34:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:34:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:34:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:34:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:34:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:34:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:34:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:34:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:34:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:34:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:34:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:34:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.03s (batch: 3.82s, save: 7.21s)	[pipeline.py: 300]
+05/10 11:34:15 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.479s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:34:16 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.314[deg]	[grasp_sample.py: 539]
+05/10 11:34:16 INFO: [Worker 0] [PROFILE] Episode 182 house 1 success=True episode_total=0.51s:
+  episode_total: mean=178.87s, total=178.87s, count=1, min=178874.3ms, max=178874.3ms
+  sensor_polling: mean=481.4ms, total=133.84s, count=278, min=398.1ms, max=833.7ms
+  save_trajectories: mean=7.21s, total=7.21s, count=1, min=7214.1ms, max=7214.1ms
+  physics_step: mean=22.6ms, total=6.29s, count=278, min=16.7ms, max=61.7ms
+  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3816.3ms, max=3816.3ms
+  task_sampling: mean=515.0ms, total=515.0ms, count=1, min=515.0ms, max=515.0ms
+  task_specific_sample: mean=510.7ms, total=510.7ms, count=1, min=510.7ms, max=510.7ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=551.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:34:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:34:17 ERROR: [Worker 0] Worker 0 house 1 episode 171 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 11:34:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:34:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:34:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:34:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:34:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:34:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:34:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:34:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:34:17 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: 178]
+05/10 11:34:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:34:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.036m, effective arm-mount z=0.824m (base_body_z=-0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036287m	[env.py: 870]
+05/10 11:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:34:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91467885  0.16948795 -0.03628662] yaw=161.7deg	[env.py: 1019]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.15403688  1.16679046 -0.03628662] yaw=-128.5deg	[env.py: 1019]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87119537  0.47251278 -0.03628662] yaw=179.9deg	[env.py: 1019]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:34:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.1ms, total=91.1ms	[env.py: 1075]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.915, 0.169, -0.036)	[env.py: 1079]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.7 deg	[env.py: 1082]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
+05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:34:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:34:18 INFO: [Worker 0] Worker 0 house 1 episode 183/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:34:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:34:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:34:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:34:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:34:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:34:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:34:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:34:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:34:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:34:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:34:18 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: 256]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038370m	[env.py: 870]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:34:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93425811  0.59415904  0.03837034] yaw=-170.8deg	[env.py: 1019]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98918489  0.89488415  0.03837034] yaw=-145.7deg	[env.py: 1019]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.99120927  0.54081699  0.03837034] yaw=-171.1deg	[env.py: 1019]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:34:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.0ms, total=134.0ms	[env.py: 1075]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.934, 0.594, 0.038)	[env.py: 1079]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.8 deg	[env.py: 1082]
+05/10 11:34:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m	[env.py: 1086]
+05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:34:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:34:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:34:19 INFO: [Worker 0] Worker 0 house 1 episode 172/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:34:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.545s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:34:19 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.383[m] 88.778[deg]	[grasp_sample.py: 539]
+05/10 11:34:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:34:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:34:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:34:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:34:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:34:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.418s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:34:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.330[m] 88.037[deg]	[grasp_sample.py: 539]
+05/10 11:34:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:34:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:34:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:34:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:34:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:34:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:34:32 INFO: [Worker 0] Worker 0 house 1 episode 170 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:34:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:34:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:34:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:34:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:34:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:34:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:34:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:34:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:34:53 INFO: [Worker 0] Saved videos eagerly for episode 131 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:34:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 11:34:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:34:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:34:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:35:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:35:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:35:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:35:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:35:06 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.81s (batch: 4.35s, save: 8.45s)	[pipeline.py: 300]
+05/10 11:35:07 INFO: [Worker 0] [PROFILE] Episode 170 house 1 success=True episode_total=0.52s:
+  episode_total: mean=188.96s, total=188.96s, count=1, min=188957.0ms, max=188957.0ms
+  sensor_polling: mean=474.1ms, total=142.22s, count=300, min=394.7ms, max=892.1ms
+  save_trajectories: mean=8.45s, total=8.45s, count=1, min=8452.9ms, max=8452.9ms
+  physics_step: mean=23.4ms, total=7.03s, count=300, min=13.9ms, max=42.1ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4354.1ms, max=4354.1ms
+  task_sampling: mean=517.9ms, total=517.9ms, count=1, min=517.9ms, max=517.9ms
+  task_specific_sample: mean=514.2ms, total=514.2ms, count=1, min=514.2ms, max=514.2ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=381.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:35:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:35:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:35:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:35:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:35:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:35:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:35:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:35:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:35:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:35:08 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: 178]
+05/10 11:35:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:35:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027284m	[env.py: 870]
+05/10 11:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:35:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6029391   0.46806032  0.02728392] yaw=184.0deg	[env.py: 1019]
+05/10 11:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:35:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:35:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=180.3ms, total=180.3ms	[env.py: 1075]
+05/10 11:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.603, 0.468, 0.027)	[env.py: 1079]
+05/10 11:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.0 deg	[env.py: 1082]
+05/10 11:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
+05/10 11:35:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:35:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:35:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:35:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:35:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:35:09 INFO: [Worker 0] Worker 0 house 1 episode 171/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:35:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:35:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:35:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:35:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:35:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.923s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:35:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.693[m] 95.595[deg]	[grasp_sample.py: 539]
+05/10 11:35:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:35:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:35:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:35:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:35:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:35:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:35:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:35:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:35:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:35:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:35:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:35:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:35:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:35:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:35:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:35:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:35:42 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.468s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:35:42 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.048[m] 0.564[deg]	[grasp_sample.py: 539]
+05/10 11:35:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:35:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:35:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:35:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:35:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:36:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:36:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:36:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:36:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:36:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:36:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:36:42 INFO: [Worker 0] Worker 0 house 1 episode 172 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:36:44 INFO: [Worker 0] Worker 0 house 1 episode 178 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:36:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:36:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:36:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:36:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:36:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:36:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:36:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:37:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:37:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:37:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:37:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:37:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:37:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:37:03 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.917s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:37:03 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.627[deg]	[grasp_sample.py: 539]
+05/10 11:37:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:37:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:37:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:37:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:37:10 INFO: [Worker 0] Saved videos eagerly for episode 125 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:37:10 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 11:37:10 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/10 11:37:13 INFO: [Worker 0] Saved videos eagerly for episode 132 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:37:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 11:37:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:37:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:37:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:37:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:37:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.58s (batch: 4.01s, save: 7.57s)	[pipeline.py: 300]
+05/10 11:37:22 INFO: [Worker 0] [PROFILE] Episode 172 house 1 success=True episode_total=0.86s:
+  episode_total: mean=161.15s, total=322.30s, count=2, min=138304.6ms, max=183992.6ms
+  sensor_polling: mean=467.9ms, total=249.86s, count=534, min=386.0ms, max=922.5ms
+  physics_step: mean=21.6ms, total=11.55s, count=534, min=13.4ms, max=51.6ms
+  save_trajectories: mean=7.57s, total=7.57s, count=1, min=7572.6ms, max=7572.6ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4008.1ms, max=4008.1ms
+  task_sampling: mean=430.6ms, total=861.1ms, count=2, min=375.6ms, max=485.6ms
+  task_specific_sample: mean=427.0ms, total=854.1ms, count=2, min=372.7ms, max=481.3ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.2ms, max=2.8ms
+  mj_forward_sync: mean=465.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=14.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:37:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:37:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:37:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:37:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:37:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:37:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:37:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:37:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:37:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:37:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004603m	[env.py: 870]
+05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:37:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65297392  0.5392023   0.00460342] yaw=-172.0deg	[env.py: 1019]
+05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11925897  1.19206017  0.00460342] yaw=-118.3deg	[env.py: 1019]
+05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75983917  0.5711893   0.00460342] yaw=-184.1deg	[env.py: 1019]
+05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:37:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.8ms, total=84.8ms	[env.py: 1075]
+05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.653, 0.539, 0.005)	[env.py: 1079]
+05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.0 deg	[env.py: 1082]
+05/10 11:37:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m	[env.py: 1086]
+05/10 11:37:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:37:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:37:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:37:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:37:24 INFO: [Worker 0] Worker 0 house 1 episode 173/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:37:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:37:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:37:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:37:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:37:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.579s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:37:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.632[m] 95.859[deg]	[grasp_sample.py: 539]
+05/10 11:37:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:37:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:37:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:37:25 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.47s (batch: 4.12s, save: 8.35s)	[pipeline.py: 300]
+05/10 11:37:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:37:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:37:26 INFO: [Worker 0] [PROFILE] Episode 178 house 1 success=True episode_total=0.42s:
+  episode_total: mean=232.68s, total=232.68s, count=1, min=232676.7ms, max=232676.7ms
+  sensor_polling: mean=466.6ms, total=139.99s, count=300, min=395.0ms, max=856.7ms
+  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8348.0ms, max=8348.0ms
+  physics_step: mean=22.5ms, total=6.75s, count=300, min=12.4ms, max=48.3ms
+  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4119.1ms, max=4119.1ms
+  task_sampling: mean=422.6ms, total=422.6ms, count=1, min=422.6ms, max=422.6ms
+  task_specific_sample: mean=419.2ms, total=419.2ms, count=1, min=419.2ms, max=419.2ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=389.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:37:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:37:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:37:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:37:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:37:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:37:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:37:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:37:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:37:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:37:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:37:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011871m	[env.py: 870]
+05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:37:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86221068  0.03726262 -0.01187061] yaw=150.5deg	[env.py: 1019]
+05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77727213  0.51328853 -0.01187061] yaw=-172.5deg	[env.py: 1019]
+05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70019894  0.49083904 -0.01187061] yaw=-190.6deg	[env.py: 1019]
+05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:37:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=64.9ms, total=64.9ms	[env.py: 1075]
+05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.862, 0.037, -0.012)	[env.py: 1079]
+05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.5 deg	[env.py: 1082]
+05/10 11:37:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
+05/10 11:37:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:37:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:37:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:37:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:37:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:37:28 INFO: [Worker 0] Worker 0 house 1 episode 179/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:37:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:37:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:37:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:37:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:37:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.642s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:37:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.507[m] 95.012[deg]	[grasp_sample.py: 539]
+05/10 11:37:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:37:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:37:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:37:30 INFO: [Worker 0] Worker 0 house 1 episode 183 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:37:51 INFO: [Worker 0] Worker 0 house 1 episode 171 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:37:55 INFO: [Worker 0] Saved videos eagerly for episode 121 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:37:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 11:37:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:38:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:38:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:38:08 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.19s (batch: 4.05s, save: 9.14s)	[pipeline.py: 300]
+05/10 11:38:09 INFO: [Worker 0] [PROFILE] Episode 183 house 1 success=True episode_total=0.44s:
+  episode_total: mean=231.59s, total=231.59s, count=1, min=231589.7ms, max=231589.7ms
+  sensor_polling: mean=461.1ms, total=138.33s, count=300, min=390.9ms, max=846.4ms
+  save_trajectories: mean=9.14s, total=9.14s, count=1, min=9138.0ms, max=9138.0ms
+  physics_step: mean=22.3ms, total=6.70s, count=300, min=14.3ms, max=65.0ms
+  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4048.9ms, max=4048.9ms
+  task_sampling: mean=435.3ms, total=435.3ms, count=1, min=435.3ms, max=435.3ms
+  task_specific_sample: mean=431.6ms, total=431.6ms, count=1, min=431.6ms, max=431.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=387.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:38:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:38:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:38:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:38:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:38:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:38:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:38:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:38:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:38:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031364m	[env.py: 870]
+05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:38:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94198106  0.13650354  0.03136356] yaw=156.6deg	[env.py: 1019]
+05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75216687  0.49183486  0.03136356] yaw=-173.0deg	[env.py: 1019]
+05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74231949  0.59573688  0.03136356] yaw=-174.1deg	[env.py: 1019]
+05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:38:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=274.2ms, total=274.2ms	[env.py: 1075]
+05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.137, 0.031)	[env.py: 1079]
+05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.6 deg	[env.py: 1082]
+05/10 11:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m	[env.py: 1086]
+05/10 11:38:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:38:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:38:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:38:12 INFO: [Worker 0] Worker 0 house 1 episode 184/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:38:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:38:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:38:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:38:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:38:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.795s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:38:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.425[m] 98.352[deg]	[grasp_sample.py: 539]
+05/10 11:38:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:38:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:38:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:38:15 INFO: [Worker 0] Saved videos eagerly for episode 132 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:38:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 11:38:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:38:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:38:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:38:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:38:26 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.58s (batch: 4.14s, save: 7.44s)	[pipeline.py: 300]
+05/10 11:38:27 INFO: [Worker 0] [PROFILE] Episode 171 house 1 success=True episode_total=0.43s:
+  episode_total: mean=198.56s, total=198.56s, count=1, min=198560.8ms, max=198560.8ms
+  sensor_polling: mean=467.4ms, total=140.21s, count=300, min=386.1ms, max=835.3ms
+  save_trajectories: mean=7.44s, total=7.44s, count=1, min=7438.2ms, max=7438.2ms
+  physics_step: mean=21.4ms, total=6.42s, count=300, min=14.0ms, max=38.6ms
+  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4141.2ms, max=4141.2ms
+  task_sampling: mean=434.8ms, total=434.8ms, count=1, min=434.8ms, max=434.8ms
+  task_specific_sample: mean=431.5ms, total=431.5ms, count=1, min=431.5ms, max=431.5ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=378.6us, 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]
+05/10 11:38:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:38:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:38:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:38:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:38:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:38:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:38:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:38:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:38:29 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: 178]
+05/10 11:38:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:38:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014818m	[env.py: 870]
+05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:38:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71121928  0.75755037 -0.01481794] yaw=-158.1deg	[env.py: 1019]
+05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.14770122  1.13615808 -0.01481794] yaw=-124.4deg	[env.py: 1019]
+05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:38:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=250.9ms, total=250.9ms	[env.py: 1075]
+05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.711, 0.758, -0.015)	[env.py: 1079]
+05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.1 deg	[env.py: 1082]
+05/10 11:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
+05/10 11:38:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:38:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:38:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:38:29 INFO: [Worker 0] Worker 0 house 1 episode 172/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:38:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:38:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:38:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:38:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:38:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.317s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:38:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.547[m] 78.165[deg]	[grasp_sample.py: 539]
+05/10 11:38:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:38:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:38:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:38:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:38:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:38:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:38:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:39:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:39:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:39:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:39:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:39:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:39:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:39:57 INFO: [Worker 0] Worker 0 house 1 episode 173 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:39:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:39:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:40:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:40:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:40:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:40:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:40:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:40:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:40:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:40:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:40:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:40:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:40:06 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.361s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:40:06 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.108[deg]	[grasp_sample.py: 539]
+05/10 11:40:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:40:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:40:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:40:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:40:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:40:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:40:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:40:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:40:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:40:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:40:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:40:20 INFO: [Worker 0] Saved videos eagerly for episode 126 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:40:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 11:40:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:40:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:40:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:40:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:40:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:40:26 INFO: [Worker 0] Worker 0 house 1 episode 179 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:40:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:40:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:40:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:40:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.42s (batch: 4.30s, save: 8.11s)	[pipeline.py: 300]
+05/10 11:40:33 INFO: [Worker 0] [PROFILE] Episode 173 house 1 success=True episode_total=0.35s:
+  episode_total: mean=189.47s, total=189.47s, count=1, min=189466.8ms, max=189466.8ms
+  sensor_polling: mean=470.9ms, total=141.28s, count=300, min=396.9ms, max=842.9ms
+  save_trajectories: mean=8.11s, total=8.11s, count=1, min=8113.3ms, max=8113.3ms
+  physics_step: mean=21.0ms, total=6.30s, count=300, min=13.4ms, max=59.8ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4301.8ms, max=4301.8ms
+  task_sampling: mean=353.8ms, total=353.8ms, count=1, min=353.8ms, max=353.8ms
+  task_specific_sample: mean=349.9ms, total=349.9ms, count=1, min=349.9ms, max=349.9ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=465.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.1us, 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]
+05/10 11:40:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:40:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:40:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:40:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:40:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:40:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:40:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:40:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:40:35 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: 178]
+05/10 11:40:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:40:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041837m	[env.py: 870]
+05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:40:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86209069  0.09016638 -0.0418375 ] yaw=151.5deg	[env.py: 1019]
+05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68849531  0.5803259  -0.0418375 ] yaw=-169.2deg	[env.py: 1019]
+05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98143424  0.42126969 -0.0418375 ] yaw=180.7deg	[env.py: 1019]
+05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:40:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.8ms, total=131.8ms	[env.py: 1075]
+05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.862, 0.090, -0.042)	[env.py: 1079]
+05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.5 deg	[env.py: 1082]
+05/10 11:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m	[env.py: 1086]
+05/10 11:40:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:40:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:40:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:40:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:40:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:40:35 INFO: [Worker 0] Worker 0 house 1 episode 174/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:40:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:40:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:40:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:40:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:40:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.593s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:40:36 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.498[m] 94.771[deg]	[grasp_sample.py: 539]
+05/10 11:40:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:40:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:40:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:40:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:40:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:40:49 INFO: [Worker 0] Saved videos eagerly for episode 133 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:40:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 11:40:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:40:59 INFO: [Worker 0] Worker 0 house 1 episode 172 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:41:01 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 11:41:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:41:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:41:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:41:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 70 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:41:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:41:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:41:02 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.38s (batch: 5.46s, save: 7.92s)	[pipeline.py: 300]
+05/10 11:41:03 INFO: [Worker 0] [PROFILE] Episode 179 house 1 success=True episode_total=0.32s:
+  episode_total: mean=215.06s, total=215.06s, count=1, min=215061.2ms, max=215061.2ms
+  sensor_polling: mean=470.3ms, total=141.08s, count=300, min=395.0ms, max=768.5ms
+  save_trajectories: mean=7.92s, total=7.92s, count=1, min=7922.6ms, max=7922.6ms
+  physics_step: mean=22.7ms, total=6.82s, count=300, min=14.1ms, max=68.5ms
+  save_batch_prep: mean=5.46s, total=5.46s, count=1, min=5461.5ms, max=5461.5ms
+  task_sampling: mean=315.2ms, total=315.2ms, count=1, min=315.2ms, max=315.2ms
+  task_specific_sample: mean=311.8ms, total=311.8ms, count=1, min=311.8ms, max=311.8ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=375.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.2us, 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]
+05/10 11:41:03 INFO: [Worker 0] Feasibility-checked 70 grasps in 2.524s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:41:03 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.046[m] 6.521[deg]	[grasp_sample.py: 539]
+05/10 11:41:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:41:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:41:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:41:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:41:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:41:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:41:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:41:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:41:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:41:04 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: 178]
+05/10 11:41:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:41:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041558m	[env.py: 870]
+05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:41:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96710383  0.40901696 -0.04155766] yaw=174.9deg	[env.py: 1019]
+05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.11632608  1.00627003 -0.04155766] yaw=-146.9deg	[env.py: 1019]
+05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81550085  0.71934095 -0.04155766] yaw=-169.8deg	[env.py: 1019]
+05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:41:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.5ms, total=117.5ms	[env.py: 1075]
+05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.967, 0.409, -0.042)	[env.py: 1079]
+05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.9 deg	[env.py: 1082]
+05/10 11:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.739m	[env.py: 1086]
+05/10 11:41:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:41:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:41:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:41:05 INFO: [Worker 0] Worker 0 house 1 episode 180/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:41:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:41:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:41:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:41:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:41:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.398s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:41:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.284[m] 87.964[deg]	[grasp_sample.py: 539]
+05/10 11:41:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:41:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:41:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:41:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:41:16 INFO: [Worker 0] Worker 0 house 1 episode 184 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:41:18 INFO: [Worker 0] Saved videos eagerly for episode 133 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:41:18 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 11:41:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:41:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:41:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:41:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:41:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.58s (batch: 3.81s, save: 7.78s)	[pipeline.py: 300]
+05/10 11:41:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:41:31 INFO: [Worker 0] [PROFILE] Episode 172 house 1 success=True episode_total=0.52s:
+  episode_total: mean=182.20s, total=182.20s, count=1, min=182195.8ms, max=182195.8ms
+  sensor_polling: mean=461.6ms, total=138.48s, count=300, min=368.3ms, max=930.0ms
+  save_trajectories: mean=7.78s, total=7.78s, count=1, min=7777.8ms, max=7777.8ms
+  physics_step: mean=21.3ms, total=6.40s, count=300, min=16.5ms, max=52.9ms
+  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3806.9ms, max=3806.9ms
+  task_sampling: mean=521.5ms, total=521.5ms, count=1, min=521.5ms, max=521.5ms
+  task_specific_sample: mean=518.1ms, total=518.1ms, count=1, min=518.1ms, max=518.1ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=381.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.8us, 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]
+05/10 11:41:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:41:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:41:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:41:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:41:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:41:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:41:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:41:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:41:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:41:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:41:33 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: 256]
+05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035399m	[env.py: 870]
+05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:41:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95236112  0.18593884 -0.03539872] yaw=150.6deg	[env.py: 1019]
+05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68229588  0.84873399 -0.03539872] yaw=-161.2deg	[env.py: 1019]
+05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:41:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=147.0ms, total=147.0ms	[env.py: 1075]
+05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.952, 0.186, -0.035)	[env.py: 1079]
+05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.6 deg	[env.py: 1082]
+05/10 11:41:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
+05/10 11:41:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:41:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:41:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:41:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:41:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:41:33 INFO: [Worker 0] Worker 0 house 1 episode 173/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:41:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:41:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:41:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:41:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:41:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:41:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.479s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:41:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.326[m] 79.141[deg]	[grasp_sample.py: 539]
+05/10 11:41:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:41:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:41:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:41:37 INFO: [Worker 0] Saved videos eagerly for episode 122 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:41:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 11:41:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:41:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:41:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:41:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:41:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:41:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:41:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.60s (batch: 4.07s, save: 9.53s)	[pipeline.py: 300]
+05/10 11:41:52 INFO: [Worker 0] [PROFILE] Episode 184 house 1 success=True episode_total=0.64s:
+  episode_total: mean=220.73s, total=220.73s, count=1, min=220729.1ms, max=220729.1ms
+  sensor_polling: mean=469.8ms, total=140.95s, count=300, min=394.1ms, max=871.0ms
+  save_trajectories: mean=9.53s, total=9.53s, count=1, min=9532.4ms, max=9532.4ms
+  physics_step: mean=22.4ms, total=6.72s, count=300, min=11.8ms, max=73.6ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4069.0ms, max=4069.0ms
+  task_sampling: mean=636.5ms, total=636.5ms, count=1, min=636.5ms, max=636.5ms
+  task_specific_sample: mean=631.1ms, total=631.1ms, count=1, min=631.1ms, max=631.1ms
+  scene_randomize: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
+  mj_forward_sync: mean=654.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  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]
+05/10 11:41:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:41:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:41:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:41:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:41:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:41:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:41:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:41:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:41:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014362m	[env.py: 870]
+05/10 11:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:41:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87500158  0.8499357   0.01436196] yaw=-165.4deg	[env.py: 1019]
+05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00182663  0.67557245  0.01436196] yaw=-162.1deg	[env.py: 1019]
+05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80399874  0.14136329  0.01436196] yaw=168.6deg	[env.py: 1019]
+05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:41:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.2ms, total=139.3ms	[env.py: 1075]
+05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.875, 0.850, 0.014)	[env.py: 1079]
+05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.4 deg	[env.py: 1082]
+05/10 11:41:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m	[env.py: 1086]
+05/10 11:41:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:41:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:41:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:41:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:41:54 INFO: [Worker 0] Worker 0 house 1 episode 185/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:41:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:41:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:41:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:41:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:41:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.532s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:41:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.480[m] 91.314[deg]	[grasp_sample.py: 539]
+05/10 11:41:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:41:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:41:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:42:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:42:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:42:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:42:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:42:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:42:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:43:11 INFO: [Worker 0] Worker 0 house 1 episode 174 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:43:31 INFO: [Worker 0] Worker 0 house 1 episode 180 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:43:37 INFO: [Worker 0] Saved videos eagerly for episode 127 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:43:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 11:43:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:43:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:43:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:43:50 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.53s (batch: 3.83s, save: 9.71s)	[pipeline.py: 300]
+05/10 11:43:51 INFO: [Worker 0] [PROFILE] Episode 174 house 1 success=True episode_total=0.42s:
+  episode_total: mean=196.05s, total=196.05s, count=1, min=196049.7ms, max=196049.7ms
+  sensor_polling: mean=480.9ms, total=144.26s, count=300, min=399.1ms, max=1031.5ms
+  save_trajectories: mean=9.71s, total=9.71s, count=1, min=9707.0ms, max=9707.0ms
+  physics_step: mean=22.7ms, total=6.82s, count=300, min=16.5ms, max=121.0ms
+  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3827.7ms, max=3827.7ms
+  task_sampling: mean=415.9ms, total=415.9ms, count=1, min=415.9ms, max=415.9ms
+  task_specific_sample: mean=411.8ms, total=411.8ms, count=1, min=411.8ms, max=411.8ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=531.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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]
+05/10 11:43:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:43:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:43:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:43:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:43:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:43:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:43:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:43:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:43:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:43:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014529m	[env.py: 870]
+05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:43:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.10598298  1.12610924  0.01452945] yaw=-135.4deg	[env.py: 1019]
+05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98162375  0.49763876  0.01452945] yaw=-188.3deg	[env.py: 1019]
+05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84817241  0.25158638  0.01452945] yaw=168.0deg	[env.py: 1019]
+05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:43:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.3ms, total=104.3ms	[env.py: 1075]
+05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.106, 1.126, 0.015)	[env.py: 1079]
+05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.4 deg	[env.py: 1082]
+05/10 11:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
+05/10 11:43:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:43:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:43:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:43:53 INFO: [Worker 0] Worker 0 house 1 episode 175/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:43:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:43:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:43:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:43:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:43:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:43:54 INFO: [Worker 0] Saved videos eagerly for episode 134 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:43:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 11:43:54 INFO: [Worker 0] Preparing episode data: 278 timesteps	[save_utils.py: 278]
+05/10 11:43:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.442s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:43:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.444[m] 91.015[deg]	[grasp_sample.py: 539]
+05/10 11:43:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:43:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:43:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:43:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:43:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:43:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:44:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:44:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:44:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:44:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:44:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:44:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:44:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:44:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:44:04 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.412s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:44:04 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.533[deg]	[grasp_sample.py: 539]
+05/10 11:44:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:44:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:44:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:44:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:44:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:44:06 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.00s (batch: 4.11s, save: 7.89s)	[pipeline.py: 300]
+05/10 11:44:07 INFO: [Worker 0] [PROFILE] Episode 180 house 1 success=True episode_total=0.38s:
+  episode_total: mean=182.79s, total=182.79s, count=1, min=182791.7ms, max=182791.7ms
+  sensor_polling: mean=483.8ms, total=134.00s, count=277, min=393.5ms, max=1088.2ms
+  save_trajectories: mean=7.89s, total=7.89s, count=1, min=7891.2ms, max=7891.2ms
+  physics_step: mean=24.5ms, total=6.78s, count=277, min=15.3ms, max=75.3ms
+  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4113.0ms, max=4113.0ms
+  task_sampling: mean=375.0ms, total=375.0ms, count=1, min=375.0ms, max=375.0ms
+  task_specific_sample: mean=371.6ms, total=371.6ms, count=1, min=371.6ms, max=371.6ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=388.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:44:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:44:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:44:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:44:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:44:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:44:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:44:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:44:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:44:08 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: 178]
+05/10 11:44:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:44:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039094m	[env.py: 870]
+05/10 11:44:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:44:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77772172  1.05005978  0.03909379] yaw=-139.1deg	[env.py: 1019]
+05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02878462  1.17602229  0.03909379] yaw=-133.5deg	[env.py: 1019]
+05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95756835  0.92717564  0.03909379] yaw=-154.4deg	[env.py: 1019]
+05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:44:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.4ms, total=92.4ms	[env.py: 1075]
+05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.778, 1.050, 0.039)	[env.py: 1079]
+05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.1 deg	[env.py: 1082]
+05/10 11:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
+05/10 11:44:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:44:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:44:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:44:09 INFO: [Worker 0] Worker 0 house 1 episode 181/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:44:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:44:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:44:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:44:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:44:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:44:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.600s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:44:12 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.665[m] 80.734[deg]	[grasp_sample.py: 539]
+05/10 11:44:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:44:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:44:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:44:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:44:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:44:28 INFO: [Worker 0] Worker 0 house 1 episode 185 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:44:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:44:46 INFO: [Worker 0] Worker 0 house 1 episode 173 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:44:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:44:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:44:52 INFO: [Worker 0] Saved videos eagerly for episode 123 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:44:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 11:44:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:45:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:45:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:45:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.92s (batch: 3.95s, save: 7.97s)	[pipeline.py: 300]
+05/10 11:45:05 INFO: [Worker 0] [PROFILE] Episode 185 house 1 success=True episode_total=0.45s:
+  episode_total: mean=191.17s, total=191.17s, count=1, min=191169.0ms, max=191169.0ms
+  sensor_polling: mean=479.3ms, total=143.79s, count=300, min=382.3ms, max=898.9ms
+  save_trajectories: mean=7.97s, total=7.97s, count=1, min=7970.1ms, max=7970.1ms
+  physics_step: mean=22.3ms, total=6.68s, count=300, min=13.6ms, max=71.3ms
+  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3945.1ms, max=3945.1ms
+  task_sampling: mean=447.3ms, total=447.3ms, count=1, min=447.3ms, max=447.3ms
+  task_specific_sample: mean=443.4ms, total=443.4ms, count=1, min=443.4ms, max=443.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=443.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:45:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:45:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:45:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:45:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:45:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:45:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:45:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:45:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:45:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:45:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:45:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020622m	[env.py: 870]
+05/10 11:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:45:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 121.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03963558  0.75749019 -0.02062221] yaw=-165.3deg	[env.py: 1019]
+05/10 11:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7857344   0.1377666  -0.02062221] yaw=157.9deg	[env.py: 1019]
+05/10 11:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:45:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=205.1ms, total=205.1ms	[env.py: 1075]
+05/10 11:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.040, 0.757, -0.021)	[env.py: 1079]
+05/10 11:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.3 deg	[env.py: 1082]
+05/10 11:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.718m	[env.py: 1086]
+05/10 11:45:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:45:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:45:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:45:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:45:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:45:07 INFO: [Worker 0] Worker 0 house 1 episode 186/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:45:07 INFO: [Worker 0] Saved videos eagerly for episode 134 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:45:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 11:45:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:45:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:45:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:45:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:45:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:45:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.493s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:45:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.315[m] 87.275[deg]	[grasp_sample.py: 539]
+05/10 11:45:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:45:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:45:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:45:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:45:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:45:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:45:19 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.20s (batch: 4.09s, save: 8.11s)	[pipeline.py: 300]
+05/10 11:45:20 INFO: [Worker 0] [PROFILE] Episode 173 house 1 success=True episode_total=0.41s:
+  episode_total: mean=227.31s, total=227.31s, count=1, min=227307.3ms, max=227307.3ms
+  sensor_polling: mean=484.2ms, total=145.25s, count=300, min=396.6ms, max=1043.6ms
+  save_trajectories: mean=8.11s, total=8.11s, count=1, min=8112.9ms, max=8112.9ms
+  physics_step: mean=23.8ms, total=7.13s, count=300, min=13.2ms, max=61.1ms
+  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4085.8ms, max=4085.8ms
+  task_sampling: mean=410.2ms, total=410.2ms, count=1, min=410.2ms, max=410.2ms
+  task_specific_sample: mean=406.8ms, total=406.8ms, count=1, min=406.8ms, max=406.8ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=390.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:45:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:45:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:45:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:45:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:45:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:45:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:45:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:45:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:45:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:45:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:45:21 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: 256]
+05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043819m	[env.py: 870]
+05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:45:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69877391  0.41640752  0.0438195 ] yaw=168.5deg	[env.py: 1019]
+05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91608887  0.89157776  0.0438195 ] yaw=-149.8deg	[env.py: 1019]
+05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:45:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74766186  0.66189176  0.0438195 ] yaw=-164.0deg	[env.py: 1019]
+05/10 11:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:45:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=221.6ms, total=221.7ms	[env.py: 1075]
+05/10 11:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.699, 0.416, 0.044)	[env.py: 1079]
+05/10 11:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.5 deg	[env.py: 1082]
+05/10 11:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
+05/10 11:45:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:45:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:45:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:45:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:45:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:45:22 INFO: [Worker 0] Worker 0 house 1 episode 174/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:45:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:45:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:45:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:45:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:45:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:45:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.497s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:45:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.558[m] 88.777[deg]	[grasp_sample.py: 539]
+05/10 11:45:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:45:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:45:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:45:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:45:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:45:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:45:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:45:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:45:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:45:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:45:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:45:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:46:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:46:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:46:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:46:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:46:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:46:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:46:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:46:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:46:07 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.939s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:46:07 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.262[deg]	[grasp_sample.py: 539]
+05/10 11:46:08 ERROR: [Worker 0] Worker 0 house 1 episode 175 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 11:46:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:46:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:46:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:46:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:46:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:46:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:46:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:46:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:46:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013105m	[env.py: 870]
+05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:46:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93265893  0.63806705 -0.01310529] yaw=-175.7deg	[env.py: 1019]
+05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76701323  0.20377427 -0.01310529] yaw=171.3deg	[env.py: 1019]
+05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.60380682  0.45624723 -0.01310529] yaw=185.8deg	[env.py: 1019]
+05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:46:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.4ms, total=121.4ms	[env.py: 1075]
+05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.933, 0.638, -0.013)	[env.py: 1079]
+05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.7 deg	[env.py: 1082]
+05/10 11:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.785m	[env.py: 1086]
+05/10 11:46:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:46:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:46:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:46:10 INFO: [Worker 0] Worker 0 house 1 episode 176/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:46:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:46:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:46:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:46:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:46:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.462s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:46:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.348[m] 89.866[deg]	[grasp_sample.py: 539]
+05/10 11:46:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:46:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:46:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:46:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:46:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:46:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:46:39 INFO: [Worker 0] Worker 0 house 1 episode 181 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:46:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:46:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:46:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:47:06 INFO: [Worker 0] Saved videos eagerly for episode 135 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:47:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 11:47:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:47:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:47:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:47:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.71s (batch: 4.11s, save: 7.60s)	[pipeline.py: 300]
+05/10 11:47:18 INFO: [Worker 0] [PROFILE] Episode 181 house 1 success=True episode_total=0.42s:
+  episode_total: mean=189.83s, total=189.83s, count=1, min=189830.1ms, max=189830.1ms
+  sensor_polling: mean=457.5ms, total=137.25s, count=300, min=385.7ms, max=869.6ms
+  save_trajectories: mean=7.60s, total=7.60s, count=1, min=7602.3ms, max=7602.3ms
+  physics_step: mean=21.7ms, total=6.50s, count=300, min=16.7ms, max=58.6ms
+  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4109.9ms, max=4109.9ms
+  task_sampling: mean=416.6ms, total=416.6ms, count=1, min=416.6ms, max=416.6ms
+  task_specific_sample: mean=413.2ms, total=413.2ms, count=1, min=413.2ms, max=413.2ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=391.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.0us, 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]
+05/10 11:47:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:47:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:47:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:47:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:47:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:47:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:47:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:47:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:47:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034712m	[env.py: 870]
+05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:47:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 134.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.05441707  1.0091155   0.0347124 ] yaw=-131.8deg	[env.py: 1019]
+05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88974159  0.4146001   0.0347124 ] yaw=181.5deg	[env.py: 1019]
+05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.07949129  0.80740104  0.0347124 ] yaw=-161.5deg	[env.py: 1019]
+05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:47:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.0ms, total=199.0ms	[env.py: 1075]
+05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.054, 1.009, 0.035)	[env.py: 1079]
+05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.8 deg	[env.py: 1082]
+05/10 11:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m	[env.py: 1086]
+05/10 11:47:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:47:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:47:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:47:20 INFO: [Worker 0] Worker 0 house 1 episode 182/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:47:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:47:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:47:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:47:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:47:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.492s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:47:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.391[m] 83.171[deg]	[grasp_sample.py: 539]
+05/10 11:47:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:47:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:47:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:47:30 INFO: [Worker 0] Worker 0 house 1 episode 186 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:47:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:47:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:47:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:47:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:47:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:47:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:47:56 INFO: [Worker 0] Saved videos eagerly for episode 124 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:47:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 11:47:56 INFO: [Worker 0] Preparing episode data: 285 timesteps	[save_utils.py: 278]
+05/10 11:47:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:47:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:47:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:47:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:47:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:47:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:47:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:47:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:47:59 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.357s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:47:59 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.060[deg]	[grasp_sample.py: 539]
+05/10 11:47:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:47:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:47:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:48:05 INFO: [Worker 0] Worker 0 house 1 episode 174 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:48:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:48:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:48:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:48:07 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.46s (batch: 3.92s, save: 7.54s)	[pipeline.py: 300]
+05/10 11:48:08 INFO: [Worker 0] [PROFILE] Episode 186 house 1 success=True episode_total=0.50s:
+  episode_total: mean=181.71s, total=181.71s, count=1, min=181712.7ms, max=181712.7ms
+  sensor_polling: mean=470.0ms, total=133.47s, count=284, min=395.7ms, max=826.3ms
+  save_trajectories: mean=7.54s, total=7.54s, count=1, min=7541.8ms, max=7541.8ms
+  physics_step: mean=21.5ms, total=6.10s, count=284, min=13.9ms, max=42.6ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3919.1ms, max=3919.1ms
+  task_sampling: mean=502.8ms, total=502.8ms, count=1, min=502.8ms, max=502.8ms
+  task_specific_sample: mean=498.8ms, total=498.8ms, count=1, min=498.8ms, max=498.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=436.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.6us, 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]
+05/10 11:48:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:48:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:48:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:48:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:48:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:48:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:48:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:48:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:48:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013442m	[env.py: 870]
+05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:48:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03328281  0.23819316  0.01344195] yaw=163.9deg	[env.py: 1019]
+05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70499771  0.6617864   0.01344195] yaw=-160.2deg	[env.py: 1019]
+05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84213548  1.00638559  0.01344195] yaw=-142.3deg	[env.py: 1019]
+05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:48:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.1ms, total=163.2ms	[env.py: 1075]
+05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.033, 0.238, 0.013)	[env.py: 1079]
+05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.9 deg	[env.py: 1082]
+05/10 11:48:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.712m	[env.py: 1086]
+05/10 11:48:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:48:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:48:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:48:10 INFO: [Worker 0] Worker 0 house 1 episode 187/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:48:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:48:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:48:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:48:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:48:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.474s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:48:11 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.261[m] 86.835[deg]	[grasp_sample.py: 539]
+05/10 11:48:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:48:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:48:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:48:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:48:27 INFO: [Worker 0] Saved videos eagerly for episode 135 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:48:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 11:48:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:48:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:48:38 INFO: [Worker 0] Worker 0 house 1 episode 176 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:48:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:48:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:48:43 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.05s (batch: 4.30s, save: 11.76s)	[pipeline.py: 300]
+05/10 11:48:43 INFO: [Worker 0] [PROFILE] Episode 174 house 1 success=True episode_total=0.52s:
+  episode_total: mean=202.15s, total=202.15s, count=1, min=202148.3ms, max=202148.3ms
+  sensor_polling: mean=470.6ms, total=141.19s, count=300, min=384.9ms, max=797.4ms
+  save_trajectories: mean=11.76s, total=11.76s, count=1, min=11758.2ms, max=11758.2ms
+  physics_step: mean=23.1ms, total=6.92s, count=300, min=14.2ms, max=60.3ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4296.3ms, max=4296.3ms
+  task_sampling: mean=520.5ms, total=520.5ms, count=1, min=520.5ms, max=520.5ms
+  task_specific_sample: mean=516.7ms, total=516.7ms, count=1, min=516.7ms, max=516.7ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=508.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.4us, 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]
+05/10 11:48:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:48:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:48:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:48:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:48:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:48:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:48:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:48:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:48:45 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: 256]
+05/10 11:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018100m	[env.py: 870]
+05/10 11:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:48:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79609687  0.40853089 -0.01809963] yaw=164.7deg	[env.py: 1019]
+05/10 11:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86432496  1.0048071  -0.01809963] yaw=-152.3deg	[env.py: 1019]
+05/10 11:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:48:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=387.8ms, total=387.9ms	[env.py: 1075]
+05/10 11:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.796, 0.409, -0.018)	[env.py: 1079]
+05/10 11:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.7 deg	[env.py: 1082]
+05/10 11:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m	[env.py: 1086]
+05/10 11:48:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:48:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:48:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:48:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:48:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:48:46 INFO: [Worker 0] Worker 0 house 1 episode 175/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:48:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:48:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:48:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:48:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:48:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.747s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:48:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.489[m] 96.667[deg]	[grasp_sample.py: 539]
+05/10 11:48:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:48:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:48:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:48:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:48:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:49:01 INFO: [Worker 0] Saved videos eagerly for episode 128 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:49:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 11:49:01 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
+05/10 11:49:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:49:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:49:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.74s (batch: 4.22s, save: 10.51s)	[pipeline.py: 300]
+05/10 11:49:17 INFO: [Worker 0] [PROFILE] Episode 176 house 1 success=True episode_total=0.72s:
+  episode_total: mean=161.55s, total=323.09s, count=2, min=135658.3ms, max=187436.5ms
+  sensor_polling: mean=459.3ms, total=248.47s, count=541, min=378.8ms, max=954.3ms
+  physics_step: mean=21.1ms, total=11.44s, count=541, min=13.8ms, max=106.3ms
+  save_trajectories: mean=10.51s, total=10.51s, count=1, min=10510.6ms, max=10510.6ms
+  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4224.9ms, max=4224.9ms
+  task_sampling: mean=362.4ms, total=724.8ms, count=2, min=357.1ms, max=367.8ms
+  task_specific_sample: mean=359.2ms, total=718.4ms, count=2, min=353.5ms, max=365.0ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=381.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:49:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:49:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:49:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:49:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:49:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:49:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:49:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:49:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:49:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:49:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:49:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044975m	[env.py: 870]
+05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:49:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75011944  0.25182631  0.04497488] yaw=159.2deg	[env.py: 1019]
+05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77435258  0.19819941  0.04497488] yaw=153.9deg	[env.py: 1019]
+05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.0914      0.96254231  0.04497488] yaw=-144.4deg	[env.py: 1019]
+05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:49:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.8ms, total=223.8ms	[env.py: 1075]
+05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.750, 0.252, 0.045)	[env.py: 1079]
+05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.2 deg	[env.py: 1082]
+05/10 11:49:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m	[env.py: 1086]
+05/10 11:49:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:49:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:49:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:49:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:49:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:49:19 INFO: [Worker 0] Worker 0 house 1 episode 177/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:49:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:49:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:49:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:49:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:49:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.076s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:49:21 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.527[m] 91.082[deg]	[grasp_sample.py: 539]
+05/10 11:49:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:49:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:49:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:49:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:49:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:49:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:49:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:49:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:49:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:49:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:49:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:49:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:49:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:49:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:49:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:49:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:49:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:49:43 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.681s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:49:43 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.126[deg]	[grasp_sample.py: 539]
+05/10 11:49:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:49:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:49:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:49:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:49:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:49:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:49:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:49:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:49:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:49:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:49:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:49:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:50:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:50:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:50:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:50:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:50:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:50:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:50:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:50:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:50:04 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.561s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:50:04 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.344[deg]	[grasp_sample.py: 539]
+05/10 11:50:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:50:05 ERROR: [Worker 0] Worker 0 house 1 episode 182 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 11:50:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:50:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:50:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:50:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:50:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:50:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:50:07 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: 178]
+05/10 11:50:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:50:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.023m, effective arm-mount z=0.837m (base_body_z=-0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023347m	[env.py: 870]
+05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:50:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9074755   0.84985315 -0.02334723] yaw=-166.0deg	[env.py: 1019]
+05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87220881  1.1131131  -0.02334723] yaw=-135.1deg	[env.py: 1019]
+05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89052527  0.46692632 -0.02334723] yaw=175.5deg	[env.py: 1019]
+05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:50:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.9ms, total=139.9ms	[env.py: 1075]
+05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.907, 0.850, -0.023)	[env.py: 1079]
+05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.0 deg	[env.py: 1082]
+05/10 11:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
+05/10 11:50:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:50:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:50:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:50:07 INFO: [Worker 0] Worker 0 house 1 episode 183/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:50:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:50:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:50:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:50:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:50:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.584s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:50:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.451[m] 89.127[deg]	[grasp_sample.py: 539]
+05/10 11:50:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:50:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:50:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:50:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:50:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:50:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:50:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:50:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:50:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:50:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:50:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:50:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:50:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:50:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:50:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:50:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:50:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:50:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:50:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:50:32 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.343s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:50:32 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.741[deg]	[grasp_sample.py: 539]
+05/10 11:50:32 ERROR: [Worker 0] Worker 0 house 1 episode 187 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 11:50:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:50:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:50:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:50:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:50:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:50:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:50:34 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: 178]
+05/10 11:50:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:50:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016135m	[env.py: 870]
+05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:50:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77228442  0.46035642  0.01613501] yaw=188.2deg	[env.py: 1019]
+05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86827395  0.25118108  0.01613501] yaw=172.0deg	[env.py: 1019]
+05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:50:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=185.0ms, total=185.0ms	[env.py: 1075]
+05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.772, 0.460, 0.016)	[env.py: 1079]
+05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.2 deg	[env.py: 1082]
+05/10 11:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m	[env.py: 1086]
+05/10 11:50:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:50:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:50:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:50:35 INFO: [Worker 0] Worker 0 house 1 episode 188/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:50:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:50:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:50:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:50:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:50:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.466s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:50:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.454[m] 78.125[deg]	[grasp_sample.py: 539]
+05/10 11:50:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:50:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:50:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:50:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:50:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:51:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:51:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:51:17 INFO: [Worker 0] Worker 0 house 1 episode 175 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:51:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:51:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:51:40 INFO: [Worker 0] Saved videos eagerly for episode 136 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:51:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 11:51:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:51:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:51:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:51:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.80s (batch: 3.97s, save: 9.83s)	[pipeline.py: 300]
+05/10 11:51:55 INFO: [Worker 0] [PROFILE] Episode 175 house 1 success=True episode_total=0.67s:
+  episode_total: mean=189.29s, total=189.29s, count=1, min=189290.1ms, max=189290.1ms
+  sensor_polling: mean=466.3ms, total=139.89s, count=300, min=395.7ms, max=1069.6ms
+  save_trajectories: mean=9.83s, total=9.83s, count=1, min=9828.3ms, max=9828.3ms
+  physics_step: mean=23.2ms, total=6.96s, count=300, min=14.5ms, max=71.1ms
+  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3970.1ms, max=3970.1ms
+  task_sampling: mean=673.9ms, total=673.9ms, count=1, min=673.9ms, max=673.9ms
+  task_specific_sample: mean=670.1ms, total=670.1ms, count=1, min=670.1ms, max=670.1ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=474.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.8us, 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]
+05/10 11:51:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:51:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:51:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:51:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:51:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:51:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:51:56 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: 178]
+05/10 11:51:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:51:56 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: 256]
+05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042278m	[env.py: 870]
+05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:51:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89396897  0.28636996  0.04227758] yaw=170.5deg	[env.py: 1019]
+05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.10390515  1.02642293  0.04227758] yaw=-135.1deg	[env.py: 1019]
+05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96462204  0.23722036  0.04227758] yaw=158.3deg	[env.py: 1019]
+05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:51:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.3ms, total=153.4ms	[env.py: 1075]
+05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.894, 0.286, 0.042)	[env.py: 1079]
+05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.5 deg	[env.py: 1082]
+05/10 11:51:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
+05/10 11:51:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:51:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:51:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:51:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:51:57 INFO: [Worker 0] Worker 0 house 1 episode 176/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:51:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:51:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:51:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:51:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:51:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.437s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:51:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.388[m] 93.195[deg]	[grasp_sample.py: 539]
+05/10 11:51:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:51:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:51:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:52:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:52:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:52:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:52:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:52:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:52:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:52:12 INFO: [Worker 0] Worker 0 house 1 episode 177 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:52:34 INFO: [Worker 0] Worker 0 house 1 episode 183 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:52:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:52:36 INFO: [Worker 0] Saved videos eagerly for episode 129 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:52:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 11:52:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:52:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:52:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:52:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:52:49 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.00s (batch: 4.13s, save: 8.86s)	[pipeline.py: 300]
+05/10 11:52:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:52:49 INFO: [Worker 0] [PROFILE] Episode 177 house 1 success=True episode_total=0.53s:
+  episode_total: mean=210.51s, total=210.51s, count=1, min=210510.8ms, max=210510.8ms
+  sensor_polling: mean=465.5ms, total=139.64s, count=300, min=408.7ms, max=972.5ms
+  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8864.2ms, max=8864.2ms
+  physics_step: mean=20.9ms, total=6.28s, count=300, min=16.2ms, max=55.5ms
+  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4131.2ms, max=4131.2ms
+  task_sampling: mean=528.7ms, total=528.7ms, count=1, min=528.7ms, max=528.7ms
+  task_specific_sample: mean=525.0ms, total=525.0ms, count=1, min=525.0ms, max=525.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=438.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:52:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:52:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:52:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:52:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:52:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:52:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:52:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:52:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:52:51 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: 178]
+05/10 11:52:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:52:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025269m	[env.py: 870]
+05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:52:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01202581  0.14641124 -0.02526929] yaw=144.8deg	[env.py: 1019]
+05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02863922  0.75306895 -0.02526929] yaw=-152.6deg	[env.py: 1019]
+05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94397135  0.33011866 -0.02526929] yaw=169.1deg	[env.py: 1019]
+05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:52:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=333.0ms, total=333.1ms	[env.py: 1075]
+05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.012, 0.146, -0.025)	[env.py: 1079]
+05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.8 deg	[env.py: 1082]
+05/10 11:52:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.768m	[env.py: 1086]
+05/10 11:52:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:52:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:52:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:52:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:52:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:52:52 INFO: [Worker 0] Worker 0 house 1 episode 178/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:52:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:52:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:52:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:52:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:52:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.185s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:52:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.383[m] 102.723[deg]	[grasp_sample.py: 539]
+05/10 11:52:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:52:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:52:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:53:01 INFO: [Worker 0] Saved videos eagerly for episode 136 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:53:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 11:53:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:53:04 INFO: [Worker 0] Worker 0 house 1 episode 188 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:53:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:53:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:53:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.02s (batch: 4.09s, save: 7.93s)	[pipeline.py: 300]
+05/10 11:53:14 INFO: [Worker 0] [PROFILE] Episode 183 house 1 success=True episode_total=0.87s:
+  episode_total: mean=176.13s, total=352.27s, count=2, min=165472.1ms, max=186795.5ms
+  sensor_polling: mean=464.4ms, total=274.48s, count=591, min=392.4ms, max=964.5ms
+  physics_step: mean=21.8ms, total=12.91s, count=591, min=14.4ms, max=58.8ms
+  save_trajectories: mean=7.93s, total=7.93s, count=1, min=7930.5ms, max=7930.5ms
+  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4089.3ms, max=4089.3ms
+  task_sampling: mean=437.1ms, total=874.3ms, count=2, min=427.8ms, max=446.4ms
+  task_specific_sample: mean=433.8ms, total=867.6ms, count=2, min=424.5ms, max=443.1ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.5ms, max=2.2ms
+  mj_forward_sync: mean=449.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.0us, 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]
+05/10 11:53:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:53:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:53:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:53:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:53:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:53:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:53:15 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: 178]
+05/10 11:53:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:53:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039406m	[env.py: 870]
+05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:53:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72238995  0.29474244  0.03940563] yaw=171.3deg	[env.py: 1019]
+05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77806555  0.66823423  0.03940563] yaw=-162.0deg	[env.py: 1019]
+05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76960044  0.45573392  0.03940563] yaw=188.8deg	[env.py: 1019]
+05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:53:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.4ms, total=111.4ms	[env.py: 1075]
+05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.722, 0.295, 0.039)	[env.py: 1079]
+05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.3 deg	[env.py: 1082]
+05/10 11:53:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
+05/10 11:53:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:53:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:53:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:53:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:53:16 INFO: [Worker 0] Worker 0 house 1 episode 184/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:53:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:53:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:53:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:53:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:53:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.559s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:53:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.516[m] 78.332[deg]	[grasp_sample.py: 539]
+05/10 11:53:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:53:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:53:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:53:25 INFO: [Worker 0] Saved videos eagerly for episode 125 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:53:25 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 11:53:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:53:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:53:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:53:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:53:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:53:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:53:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:53:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:53:40 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.66s (batch: 4.88s, save: 9.78s)	[pipeline.py: 300]
+05/10 11:53:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:53:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:53:41 INFO: [Worker 0] [PROFILE] Episode 188 house 1 success=True episode_total=0.90s:
+  episode_total: mean=164.56s, total=329.13s, count=2, min=142550.8ms, max=186575.8ms
+  sensor_polling: mean=478.2ms, total=239.59s, count=501, min=398.7ms, max=983.0ms
+  physics_step: mean=21.7ms, total=10.85s, count=501, min=13.6ms, max=50.5ms
+  save_trajectories: mean=9.78s, total=9.78s, count=1, min=9775.0ms, max=9775.0ms
+  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4884.4ms, max=4884.4ms
+  task_sampling: mean=452.3ms, total=904.7ms, count=2, min=436.3ms, max=468.4ms
+  task_specific_sample: mean=448.8ms, total=897.6ms, count=2, min=432.2ms, max=465.5ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.3ms, max=2.7ms
+  mj_forward_sync: mean=451.3us, 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]
+05/10 11:53:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:53:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:53:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:53:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:53:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:53:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:53:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:53:42 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: 178]
+05/10 11:53:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:53:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017409m	[env.py: 870]
+05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:53:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76030955  0.83114851  0.01740895] yaw=-160.4deg	[env.py: 1019]
+05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72372884  0.62296759  0.01740895] yaw=-169.9deg	[env.py: 1019]
+05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85704026  0.61397639  0.01740895] yaw=-171.4deg	[env.py: 1019]
+05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:53:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.0ms, total=130.0ms	[env.py: 1075]
+05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.760, 0.831, 0.017)	[env.py: 1079]
+05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg	[env.py: 1082]
+05/10 11:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
+05/10 11:53:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:53:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:53:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:53:43 INFO: [Worker 0] Worker 0 house 1 episode 189/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:53:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:53:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:53:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:53:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:53:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:53:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:53:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.017s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:53:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.588[m] 93.338[deg]	[grasp_sample.py: 539]
+05/10 11:53:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:53:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:53:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:53:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:53:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:53:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:53:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:53:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:53:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:53:46 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.439s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:53:46 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.773[deg]	[grasp_sample.py: 539]
+05/10 11:53:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:53:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:53:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:53:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:53:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:53:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:53:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:53:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:53:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:53:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:53:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:53:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:53:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:53:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:53:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:53:59 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.402s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:53:59 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.768[deg]	[grasp_sample.py: 539]
+05/10 11:53:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:54:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:54:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:54:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:54:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:54:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:54:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:54:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:54:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:54:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:54:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:54:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:54:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:54:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:54:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:54:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:54:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:54:11 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.432s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:54:11 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.768[deg]	[grasp_sample.py: 539]
+05/10 11:54:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:54:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:54:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:54:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:54:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:54:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:54:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:54:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:54:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:54:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:54:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:54:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:54:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:54:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:54:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:54:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:54:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:54:24 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/10 11:54:24 INFO: [Worker 0] Worker 0 house 1 episode 176 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 11:54:24 INFO: [Worker 0] [PROFILE] Episode 176 house 1 success=False episode_total=0.44s:
+  episode_total: mean=148.01s, total=148.01s, count=1, min=148005.6ms, max=148005.6ms
+  sensor_polling: mean=463.0ms, total=101.86s, count=220, min=391.8ms, max=762.8ms
+  physics_step: mean=21.4ms, total=4.71s, count=220, min=11.8ms, max=52.0ms
+  task_sampling: mean=443.8ms, total=443.8ms, count=1, min=443.8ms, max=443.8ms
+  task_specific_sample: mean=439.6ms, total=439.6ms, count=1, min=439.6ms, max=439.6ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=513.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:54:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:54:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:54:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:54:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:54:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:54:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:54:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:54:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:54:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:54:26 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: 178]
+05/10 11:54:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:54:26 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: 256]
+05/10 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018144m	[env.py: 870]
+05/10 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:54:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 136.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:54:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=434.5ms, total=434.6ms	[env.py: 1105]
+05/10 11:54:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/10 11:54:26 ERROR: [Worker 0] Worker 0 house 1 episode 177 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/10 11:54:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:54:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:54:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:54:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:54:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:54:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:54:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:54:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:54:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:54:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:54:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043307m	[env.py: 870]
+05/10 11:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:54:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67768367  0.14757588  0.04330738] yaw=152.4deg	[env.py: 1019]
+05/10 11:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00138211  0.62071347  0.04330738] yaw=-170.9deg	[env.py: 1019]
+05/10 11:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0803605   1.16191804  0.04330738] yaw=-142.8deg	[env.py: 1019]
+05/10 11:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:54:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.3ms, total=217.3ms	[env.py: 1075]
+05/10 11:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.678, 0.148, 0.043)	[env.py: 1079]
+05/10 11:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.4 deg	[env.py: 1082]
+05/10 11:54:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
+05/10 11:54:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:54:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:54:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:54:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:54:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:54:29 INFO: [Worker 0] Worker 0 house 1 episode 178/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:54:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:54:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:54:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:54:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:54:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.581s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:54:33 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.623[m] 86.061[deg]	[grasp_sample.py: 539]
+05/10 11:54:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:54:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:54:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:54:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:54:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:54:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:55:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:55:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:55:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:55:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:55:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:55:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:55:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:55:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:55:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:55:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:55:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:55:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:55:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:55:19 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.755s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:55:19 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.548[deg]	[grasp_sample.py: 539]
+05/10 11:55:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:55:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:55:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:55:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:55:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:55:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:55:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:55:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:55:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:56:00 INFO: [Worker 0] Worker 0 house 1 episode 178 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:56:02 INFO: [Worker 0] Worker 0 house 1 episode 184 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:56:14 INFO: [Worker 0] Worker 0 house 1 episode 189 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:56:21 INFO: [Worker 0] Saved videos eagerly for episode 130 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:56:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 11:56:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:56:25 INFO: [Worker 0] Saved videos eagerly for episode 137 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:56:25 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 11:56:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:56:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:56:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:56:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:56:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:56:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:56:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:56:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.78s (batch: 4.15s, save: 7.62s)	[pipeline.py: 300]
+05/10 11:56:34 INFO: [Worker 0] [PROFILE] Episode 178 house 1 success=True episode_total=0.64s:
+  episode_total: mean=222.81s, total=222.81s, count=1, min=222805.1ms, max=222805.1ms
+  sensor_polling: mean=458.8ms, total=137.64s, count=300, min=384.1ms, max=751.2ms
+  save_trajectories: mean=7.62s, total=7.62s, count=1, min=7623.2ms, max=7623.2ms
+  physics_step: mean=21.5ms, total=6.46s, count=300, min=13.6ms, max=38.3ms
+  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4154.2ms, max=4154.2ms
+  task_sampling: mean=643.8ms, total=643.8ms, count=1, min=643.8ms, max=643.8ms
+  task_specific_sample: mean=639.6ms, total=639.6ms, count=1, min=639.6ms, max=639.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=449.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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]
+05/10 11:56:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:56:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:56:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:56:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:56:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:56:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:56:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:56:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045977m	[env.py: 870]
+05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:56:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96507779  1.13244527 -0.04597695] yaw=-143.1deg	[env.py: 1019]
+05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01273353  0.20621618 -0.04597695] yaw=165.7deg	[env.py: 1019]
+05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70393027  0.08804076 -0.04597695] yaw=156.1deg	[env.py: 1019]
+05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:56:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.9ms, total=114.0ms	[env.py: 1075]
+05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.965, 1.132, -0.046)	[env.py: 1079]
+05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.1 deg	[env.py: 1082]
+05/10 11:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/10 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:56:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:56:36 INFO: [Worker 0] Saved videos eagerly for episode 126 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:56:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 11:56:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:56:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:56:36 INFO: [Worker 0] Worker 0 house 1 episode 179/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:56:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:56:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:56:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:56:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:56:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:56:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:56:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:56:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.03s (batch: 3.93s, save: 8.10s)	[pipeline.py: 300]
+05/10 11:56:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.356s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:56:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.566[m] 86.413[deg]	[grasp_sample.py: 539]
+05/10 11:56:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:56:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:56:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:56:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:56:38 INFO: [Worker 0] [PROFILE] Episode 184 house 1 success=True episode_total=0.36s:
+  episode_total: mean=202.67s, total=202.67s, count=1, min=202672.0ms, max=202672.0ms
+  sensor_polling: mean=466.2ms, total=139.85s, count=300, min=395.5ms, max=744.7ms
+  save_trajectories: mean=8.10s, total=8.10s, count=1, min=8099.4ms, max=8099.4ms
+  physics_step: mean=23.4ms, total=7.01s, count=300, min=13.7ms, max=86.0ms
+  save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3934.0ms, max=3934.0ms
+  task_sampling: mean=356.1ms, total=356.1ms, count=1, min=356.1ms, max=356.1ms
+  task_specific_sample: mean=352.6ms, total=352.6ms, count=1, min=352.6ms, max=352.6ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=374.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.1us, 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]
+05/10 11:56:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:56:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:56:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:56:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:56:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:56:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:56:39 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.429s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:56:39 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.299[deg]	[grasp_sample.py: 539]
+05/10 11:56:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:56:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:56:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:56:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:56:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:56:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:56:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:56:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:56:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:56:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:56:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:56:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013180m	[env.py: 870]
+05/10 11:56:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:56:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.960574    0.85625177 -0.01318003] yaw=-157.7deg	[env.py: 1019]
+05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95978662  0.47654724 -0.01318003] yaw=185.0deg	[env.py: 1019]
+05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84750935  0.42237256 -0.01318003] yaw=183.3deg	[env.py: 1019]
+05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:56:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.3ms, total=85.3ms	[env.py: 1075]
+05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.961, 0.856, -0.013)	[env.py: 1079]
+05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.7 deg	[env.py: 1082]
+05/10 11:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
+05/10 11:56:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:56:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:56:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:56:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:56:40 INFO: [Worker 0] Worker 0 house 1 episode 185/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:56:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:56:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:56:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:56:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:56:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.419s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:56:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.377[m] 78.202[deg]	[grasp_sample.py: 539]
+05/10 11:56:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:56:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:56:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:56:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:56:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:56:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:56:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.23s (batch: 4.01s, save: 7.22s)	[pipeline.py: 300]
+05/10 11:56:48 INFO: [Worker 0] [PROFILE] Episode 189 house 1 success=True episode_total=0.43s:
+  episode_total: mean=185.26s, total=185.26s, count=1, min=185264.9ms, max=185264.9ms
+  sensor_polling: mean=464.2ms, total=139.26s, count=300, min=389.2ms, max=848.2ms
+  save_trajectories: mean=7.22s, total=7.22s, count=1, min=7223.6ms, max=7223.6ms
+  physics_step: mean=20.9ms, total=6.27s, count=300, min=13.9ms, max=42.3ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4005.7ms, max=4005.7ms
+  task_sampling: mean=434.8ms, total=434.8ms, count=1, min=434.8ms, max=434.8ms
+  task_specific_sample: mean=431.7ms, total=431.7ms, count=1, min=431.7ms, max=431.7ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=367.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:56:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:56:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:56:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:56:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:56:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:56:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:56:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:56:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:56:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:56:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:56:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026630m	[env.py: 870]
+05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:56:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89854641  0.79851868  0.02663036] yaw=-155.0deg	[env.py: 1019]
+05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06098051  0.95366069  0.02663036] yaw=-142.8deg	[env.py: 1019]
+05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70867326  0.35056843  0.02663036] yaw=172.8deg	[env.py: 1019]
+05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:56:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.4ms, total=103.5ms	[env.py: 1075]
+05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.899, 0.799, 0.027)	[env.py: 1079]
+05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.0 deg	[env.py: 1082]
+05/10 11:56:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m	[env.py: 1086]
+05/10 11:56:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:56:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:56:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:56:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:56:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:56:50 INFO: [Worker 0] Worker 0 house 1 episode 190/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:56:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:56:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:56:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:56:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:56:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.446s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:56:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.428[m] 91.566[deg]	[grasp_sample.py: 539]
+05/10 11:56:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:56:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:56:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:56:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:56:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:57:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:57:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:57:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:57:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:57:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:57:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:57:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:57:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:57:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:57:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:57:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:57:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:57:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:57:11 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.500s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:57:11 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.788[deg]	[grasp_sample.py: 539]
+05/10 11:57:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:57:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:57:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:57:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:57:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:57:16 INFO: [Worker 0] Worker 0 house 1 episode 178 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 11:57:16 INFO: [Worker 0] [PROFILE] Episode 178 house 1 success=False episode_total=0.47s:
+  episode_total: mean=84.27s, total=168.55s, count=2, min=454.0ms, max=168094.0ms
+  sensor_polling: mean=455.3ms, total=136.58s, count=300, min=386.1ms, max=819.4ms
+  physics_step: mean=20.9ms, total=6.28s, count=300, min=12.6ms, max=46.5ms
+  task_specific_sample: mean=454.3ms, total=908.5ms, count=2, min=440.4ms, max=468.2ms
+  task_sampling: mean=471.8ms, total=471.8ms, count=1, min=471.8ms, max=471.8ms
+  task_sampling_failed: mean=454.0ms, total=454.0ms, count=1, min=454.0ms, max=454.0ms
+  scene_randomize: mean=1.4ms, total=2.8ms, count=2, min=1.2ms, max=1.6ms
+  mj_forward_sync: mean=490.8us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:57:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:57:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:57:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:57:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:57:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:57:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:57:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:57:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:57:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:57:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:57:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015808m	[env.py: 870]
+05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:57:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9038653   0.48254808 -0.0158076 ] yaw=-182.3deg	[env.py: 1019]
+05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96928073  0.11470013 -0.0158076 ] yaw=161.0deg	[env.py: 1019]
+05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77570387  0.0963791  -0.0158076 ] yaw=165.1deg	[env.py: 1019]
+05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:57:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=78.5ms, total=78.6ms	[env.py: 1075]
+05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.904, 0.483, -0.016)	[env.py: 1079]
+05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.3 deg	[env.py: 1082]
+05/10 11:57:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.798m	[env.py: 1086]
+05/10 11:57:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:57:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:57:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:57:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:57:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:57:18 INFO: [Worker 0] Worker 0 house 1 episode 179/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:57:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:57:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:57:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:57:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:57:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.388s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:57:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.402[m] 98.944[deg]	[grasp_sample.py: 539]
+05/10 11:57:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:57:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:57:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:57:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:57:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:57:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:57:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:57:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:57:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:57:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:57:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:57:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:58:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 11:58:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:58:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:58:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:58:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:58:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:58:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:58:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:58:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:58:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 11:58:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 11:58:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 11:58:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:58:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:58:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:58:58 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.496s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:58:58 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.100[m] 3.364[deg]	[grasp_sample.py: 539]
+05/10 11:58:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:58:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:58:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:59:09 INFO: [Worker 0] Worker 0 house 1 episode 185 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:59:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:59:16 INFO: [Worker 0] Worker 0 house 1 episode 179 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:59:22 INFO: [Worker 0] Worker 0 house 1 episode 190 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:59:34 INFO: [Worker 0] Saved videos eagerly for episode 138 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:59:34 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 11:59:34 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
+05/10 11:59:39 INFO: [Worker 0] Saved videos eagerly for episode 131 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:59:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 11:59:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:59:44 INFO: [Worker 0] Saved videos eagerly for episode 127 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 11:59:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 11:59:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 11:59:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:59:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:59:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.64s (batch: 4.13s, save: 8.51s)	[pipeline.py: 300]
+05/10 11:59:47 INFO: [Worker 0] [PROFILE] Episode 185 house 1 success=True episode_total=0.37s:
+  episode_total: mean=187.84s, total=187.84s, count=1, min=187843.9ms, max=187843.9ms
+  sensor_polling: mean=470.5ms, total=138.81s, count=295, min=397.9ms, max=871.0ms
+  save_trajectories: mean=8.51s, total=8.51s, count=1, min=8513.6ms, max=8513.6ms
+  physics_step: mean=22.2ms, total=6.55s, count=295, min=13.8ms, max=69.0ms
+  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4128.6ms, max=4128.6ms
+  task_sampling: mean=372.2ms, total=372.2ms, count=1, min=372.2ms, max=372.2ms
+  task_specific_sample: mean=368.9ms, total=368.9ms, count=1, min=368.9ms, max=368.9ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=372.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 11:59:49 INFO: [Worker 0] Worker 0 house 1 episode 179 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 11:59:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:59:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:59:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:59:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:59:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:59:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:59:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:59:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:59:49 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: 256]
+05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045911m	[env.py: 870]
+05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:59:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74298861  0.95016438  0.04591127] yaw=-144.0deg	[env.py: 1019]
+05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88437291  0.44492974  0.04591127] yaw=177.5deg	[env.py: 1019]
+05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 126.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.68138085  0.28170518  0.04591127] yaw=163.3deg	[env.py: 1019]
+05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:59:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.9ms, total=128.9ms	[env.py: 1075]
+05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.950, 0.046)	[env.py: 1079]
+05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.0 deg	[env.py: 1082]
+05/10 11:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
+05/10 11:59:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:59:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:59:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:59:49 INFO: [Worker 0] Worker 0 house 1 episode 186/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:59:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:59:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:59:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:59:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:59:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.266s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:59:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.651[m] 89.444[deg]	[grasp_sample.py: 539]
+05/10 11:59:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:59:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:59:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:59:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:59:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:59:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.93s (batch: 3.98s, save: 7.95s)	[pipeline.py: 300]
+05/10 11:59:52 INFO: [Worker 0] [PROFILE] Episode 179 house 1 success=True episode_total=0.41s:
+  episode_total: mean=196.29s, total=196.29s, count=1, min=196286.2ms, max=196286.2ms
+  sensor_polling: mean=462.9ms, total=138.88s, count=300, min=382.0ms, max=1102.4ms
+  save_trajectories: mean=7.95s, total=7.95s, count=1, min=7948.5ms, max=7948.5ms
+  physics_step: mean=20.9ms, total=6.28s, count=300, min=13.1ms, max=48.0ms
+  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3978.7ms, max=3978.7ms
+  task_sampling: mean=407.1ms, total=407.1ms, count=1, min=407.1ms, max=407.1ms
+  task_specific_sample: mean=404.2ms, total=404.2ms, count=1, min=404.2ms, max=404.2ms
+  scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms
+  mj_forward_sync: mean=373.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.2us, 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]
+05/10 11:59:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:59:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:59:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:59:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:59:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:59:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:59:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:59:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:59:53 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: 256]
+05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001880m	[env.py: 870]
+05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:59:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90639363  0.63373315  0.0018798 ] yaw=-178.3deg	[env.py: 1019]
+05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.17652683  1.06913377  0.0018798 ] yaw=-132.5deg	[env.py: 1019]
+05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:59:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.7ms, total=149.8ms	[env.py: 1075]
+05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.906, 0.634, 0.002)	[env.py: 1079]
+05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.3 deg	[env.py: 1082]
+05/10 11:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
+05/10 11:59:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:59:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:59:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:59:54 INFO: [Worker 0] Worker 0 house 1 episode 180/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:59:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:59:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:59:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:59:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:59:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.414s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:59:54 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.407[m] 95.954[deg]	[grasp_sample.py: 539]
+05/10 11:59:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:59:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:59:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 11:59:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 11:59:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 11:59:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.31s (batch: 3.72s, save: 7.59s)	[pipeline.py: 300]
+05/10 11:59:56 INFO: [Worker 0] [PROFILE] Episode 190 house 1 success=True episode_total=0.42s:
+  episode_total: mean=186.90s, total=186.90s, count=1, min=186904.5ms, max=186904.5ms
+  sensor_polling: mean=472.9ms, total=141.86s, count=300, min=386.1ms, max=930.8ms
+  save_trajectories: mean=7.59s, total=7.59s, count=1, min=7590.1ms, max=7590.1ms
+  physics_step: mean=22.3ms, total=6.68s, count=300, min=13.4ms, max=63.3ms
+  save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3721.2ms, max=3721.2ms
+  task_sampling: mean=421.4ms, total=421.4ms, count=1, min=421.4ms, max=421.4ms
+  task_specific_sample: mean=417.9ms, total=417.9ms, count=1, min=417.9ms, max=417.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=382.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.0us, 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]
+05/10 11:59:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 11:59:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 11:59:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 11:59:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:59:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:59:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 11:59:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 11:59:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 11:59:58 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: 256]
+05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038455m	[env.py: 870]
+05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 11:59:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09786342  0.84085594  0.0384554 ] yaw=-139.3deg	[env.py: 1019]
+05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96941211  0.92818923  0.0384554 ] yaw=-137.8deg	[env.py: 1019]
+05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83484654  0.02645575  0.0384554 ] yaw=147.3deg	[env.py: 1019]
+05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 11:59:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.4ms, total=123.5ms	[env.py: 1075]
+05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.098, 0.841, 0.038)	[env.py: 1079]
+05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.3 deg	[env.py: 1082]
+05/10 11:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.703m	[env.py: 1086]
+05/10 11:59:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 11:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 11:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 11:59:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 11:59:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 11:59:58 INFO: [Worker 0] Worker 0 house 1 episode 191/240 collected=0/40	[pipeline.py: 1044]
+05/10 11:59:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 11:59:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 11:59:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 11:59:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 11:59:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.467s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 11:59:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.320[m] 98.631[deg]	[grasp_sample.py: 539]
+05/10 11:59:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 11:59:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 11:59:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:00:12 INFO: [Worker 0] Saved videos eagerly for episode 137 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 12:00:12 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 12:00:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 12:00:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 12:00:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 12:00:24 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.42s (batch: 4.35s, save: 8.07s)	[pipeline.py: 300]
+05/10 12:00:25 INFO: [Worker 0] [PROFILE] Episode 179 house 1 success=True episode_total=0.33s:
+  episode_total: mean=187.12s, total=187.12s, count=1, min=187123.8ms, max=187123.8ms
+  sensor_polling: mean=464.0ms, total=139.21s, count=300, min=373.3ms, max=845.5ms
+  save_trajectories: mean=8.07s, total=8.07s, count=1, min=8070.3ms, max=8070.3ms
+  physics_step: mean=21.9ms, total=6.56s, count=300, min=13.5ms, max=60.6ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4348.8ms, max=4348.8ms
+  task_sampling: mean=328.6ms, total=328.6ms, count=1, min=328.6ms, max=328.6ms
+  task_specific_sample: mean=326.2ms, total=326.2ms, count=1, min=326.2ms, max=326.2ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=370.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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]
+05/10 12:00:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 12:00:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 12:00:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 12:00:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:00:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:00:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:00:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:00:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 12:00:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 12:00:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 12:00:27 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: 256]
+05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018239m	[env.py: 870]
+05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 12:00:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82959709  0.95455508 -0.0182391 ] yaw=-162.7deg	[env.py: 1019]
+05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00266886  0.69325057 -0.0182391 ] yaw=-164.6deg	[env.py: 1019]
+05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.72278632  0.71967695 -0.0182391 ] yaw=-175.8deg	[env.py: 1019]
+05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 12:00:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=226.7ms, total=226.8ms	[env.py: 1075]
+05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.830, 0.955, -0.018)	[env.py: 1079]
+05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.7 deg	[env.py: 1082]
+05/10 12:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
+05/10 12:00:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:00:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:00:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:00:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:00:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 12:00:27 INFO: [Worker 0] Worker 0 house 1 episode 180/240 collected=0/40	[pipeline.py: 1044]
+05/10 12:00:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/10 12:00:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:00:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:00:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:00:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:00:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.463s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:00:29 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.564[m] 84.451[deg]	[grasp_sample.py: 539]
+05/10 12:00:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 12:00:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 12:00:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:00:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:00:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 12:00:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 12:00:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:00:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:00:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:01:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 12:01:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:01:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:01:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 12:01:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:02:13 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 12:02:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 12:02:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:02:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:02:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:02:14 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.885s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:02:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.620[deg]	[grasp_sample.py: 539]
+05/10 12:02:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 12:02:15 INFO: [Worker 0] Worker 0 house 1 episode 186 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 12:02:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 12:02:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:02:20 INFO: [Worker 0] Worker 0 house 1 episode 191 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 12:02:23 INFO: [Worker 0] Worker 0 house 1 episode 180 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 12:02:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:02:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 12:02:37 INFO: [Worker 0] Saved videos eagerly for episode 139 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 12:02:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 12:02:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 12:02:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:02:42 INFO: [Worker 0] Saved videos eagerly for episode 128 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 12:02:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 12:02:42 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/10 12:02:45 INFO: [Worker 0] Saved videos eagerly for episode 132 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 12:02:45 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 12:02:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 12:02:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 12:02:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 12:02:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.80s (batch: 4.48s, save: 9.33s)	[pipeline.py: 300]
+05/10 12:02:51 INFO: [Worker 0] [PROFILE] Episode 186 house 1 success=True episode_total=0.40s:
+  episode_total: mean=182.40s, total=182.40s, count=1, min=182396.6ms, max=182396.6ms
+  sensor_polling: mean=448.4ms, total=134.52s, count=300, min=372.8ms, max=836.0ms
+  save_trajectories: mean=9.33s, total=9.33s, count=1, min=9325.4ms, max=9325.4ms
+  physics_step: mean=21.0ms, total=6.29s, count=300, min=13.8ms, max=68.9ms
+  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4476.0ms, max=4476.0ms
+  task_sampling: mean=395.6ms, total=395.6ms, count=1, min=395.6ms, max=395.6ms
+  task_specific_sample: mean=392.2ms, total=392.2ms, count=1, min=392.2ms, max=392.2ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=399.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 12:02:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 12:02:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 12:02:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 12:02:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:02:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:02:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 12:02:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 12:02:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 12:02:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042345m	[env.py: 870]
+05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 12:02:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7626362   0.35940698 -0.04234549] yaw=166.3deg	[env.py: 1019]
+05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.05229336  0.87259266 -0.04234549] yaw=-152.6deg	[env.py: 1019]
+05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 12:02:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.3ms, total=186.4ms	[env.py: 1075]
+05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.763, 0.359, -0.042)	[env.py: 1079]
+05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.3 deg	[env.py: 1082]
+05/10 12:02:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
+05/10 12:02:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:02:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:02:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:02:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 12:02:53 INFO: [Worker 0] Worker 0 house 1 episode 187/240 collected=0/40	[pipeline.py: 1044]
+05/10 12:02:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/10 12:02:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:02:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:02:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:02:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.417s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:02:54 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.540[m] 99.716[deg]	[grasp_sample.py: 539]
+05/10 12:02:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 12:02:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 12:02:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 12:02:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.27s (batch: 4.31s, save: 7.95s)	[pipeline.py: 300]
+05/10 12:02:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 12:02:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:02:55 INFO: [Worker 0] [PROFILE] Episode 191 house 1 success=True episode_total=0.38s:
+  episode_total: mean=177.23s, total=177.23s, count=1, min=177227.8ms, max=177227.8ms
+  sensor_polling: mean=460.1ms, total=132.06s, count=287, min=404.0ms, max=835.6ms
+  save_trajectories: mean=7.95s, total=7.95s, count=1, min=7954.0ms, max=7954.0ms
+  physics_step: mean=20.8ms, total=5.97s, count=287, min=14.0ms, max=41.9ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4313.0ms, max=4313.0ms
+  task_sampling: mean=378.8ms, total=378.8ms, count=1, min=378.8ms, max=378.8ms
+  task_specific_sample: mean=375.7ms, total=375.7ms, count=1, min=375.7ms, max=375.7ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=377.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 12:02:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 12:02:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 12:02:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 12:02:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:02:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:02:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:02:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:02:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 12:02:56 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: 178]
+05/10 12:02:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 12:02:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 12:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 12:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 12:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038706m	[env.py: 870]
+05/10 12:02:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 12:02:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 121.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81377309  0.32097412  0.0387056 ] yaw=159.3deg	[env.py: 1019]
+05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86549548  0.8428197   0.0387056 ] yaw=-148.1deg	[env.py: 1019]
+05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 12:02:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=142.2ms, total=142.2ms	[env.py: 1075]
+05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.814, 0.321, 0.039)	[env.py: 1079]
+05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.3 deg	[env.py: 1082]
+05/10 12:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
+05/10 12:02:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:02:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:02:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:02:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:02:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 12:02:57 INFO: [Worker 0] Worker 0 house 1 episode 192/240 collected=0/40	[pipeline.py: 1044]
+05/10 12:02:57 INFO: [Worker 0] Worker 0 house 1 episode 180 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 12:02:57 INFO: [Worker 0] [PROFILE] Episode 180 house 1 success=False episode_total=0.47s:
+  episode_total: mean=150.26s, total=150.26s, count=1, min=150256.2ms, max=150256.2ms
+  sensor_polling: mean=458.3ms, total=137.50s, count=300, min=379.2ms, max=879.0ms
+  physics_step: mean=21.3ms, total=6.38s, count=300, min=13.6ms, max=53.9ms
+  task_sampling: mean=469.6ms, total=469.6ms, count=1, min=469.6ms, max=469.6ms
+  task_specific_sample: mean=466.1ms, total=466.1ms, count=1, min=466.1ms, max=466.1ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=383.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 12:02:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 12:02:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:02:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:02:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:02:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.467s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:02:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.464[m] 92.899[deg]	[grasp_sample.py: 539]
+05/10 12:02:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 12:02:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 12:02:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 12:02:58 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.41s (batch: 4.36s, save: 8.05s)	[pipeline.py: 300]
+05/10 12:02:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 12:02:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:02:59 INFO: [Worker 0] [PROFILE] Episode 180 house 1 success=True episode_total=0.47s:
+  episode_total: mean=185.27s, total=185.27s, count=1, min=185267.6ms, max=185267.6ms
+  sensor_polling: mean=462.2ms, total=138.66s, count=300, min=392.3ms, max=785.9ms
+  save_trajectories: mean=8.05s, total=8.05s, count=1, min=8050.0ms, max=8050.0ms
+  physics_step: mean=22.5ms, total=6.75s, count=300, min=13.3ms, max=59.2ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4358.5ms, max=4358.5ms
+  task_sampling: mean=475.0ms, total=475.0ms, count=1, min=475.0ms, max=475.0ms
+  task_specific_sample: mean=471.8ms, total=471.8ms, count=1, min=471.8ms, max=471.8ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=386.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 12:02:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 12:02:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 12:02:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 12:02:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:02:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:02:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 12:02:59 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: 178]
+05/10 12:02:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 12:02:59 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: 256]
+05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040825m	[env.py: 870]
+05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 12:02:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80615217  0.3264205  -0.04082459] yaw=167.7deg	[env.py: 1019]
+05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87563917  0.58662974 -0.04082459] yaw=-177.1deg	[env.py: 1019]
+05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84343662  0.12490534 -0.04082459] yaw=163.8deg	[env.py: 1019]
+05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 12:02:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.2ms, total=130.2ms	[env.py: 1075]
+05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.806, 0.326, -0.041)	[env.py: 1079]
+05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.7 deg	[env.py: 1082]
+05/10 12:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
+05/10 12:02:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:02:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:02:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 12:02:59 INFO: [Worker 0] Worker 0 house 1 episode 181/240 collected=0/40	[pipeline.py: 1044]
+05/10 12:02:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/10 12:02:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:02:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:02:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:03:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.467s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:03:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.481[m] 95.596[deg]	[grasp_sample.py: 539]
+05/10 12:03:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 12:03:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 12:03:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:03:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 12:03:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 12:03:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 12:03:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:03:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:03:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:03:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:03:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 12:03:00 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: 178]
+05/10 12:03:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 12:03:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000747m	[env.py: 870]
+05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 12:03:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-8.62790189e-01  4.44155117e-01  7.47045876e-04] yaw=181.7deg	[env.py: 1019]
+05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08770961e+00  1.10944478e+00  7.47045876e-04] yaw=-128.2deg	[env.py: 1019]
+05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02470009e+00  2.28497612e-01  7.47045876e-04] yaw=159.1deg	[env.py: 1019]
+05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 12:03:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.2ms, total=98.3ms	[env.py: 1075]
+05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.863, 0.444, 0.001)	[env.py: 1079]
+05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.7 deg	[env.py: 1082]
+05/10 12:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
+05/10 12:03:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:03:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:03:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:03:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:03:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 12:03:01 INFO: [Worker 0] Worker 0 house 1 episode 181/240 collected=0/40	[pipeline.py: 1044]
+05/10 12:03:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 12:03:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:03:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:03:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:03:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.425s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:03:01 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.400[m] 93.867[deg]	[grasp_sample.py: 539]
+05/10 12:03:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 12:03:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 12:03:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:03:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:03:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:03:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:03:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:03:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 12:03:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 12:03:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:03:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:03:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 12:03:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 12:04:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:04:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:05:27 INFO: [Worker 0] Worker 0 house 1 episode 187 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 12:05:34 INFO: [Worker 0] Worker 0 house 1 episode 181 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 12:05:34 INFO: [Worker 0] Worker 0 house 1 episode 192 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 12:05:36 INFO: [Worker 0] Worker 0 house 1 episode 181 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 12:05:49 INFO: [Worker 0] Saved videos eagerly for episode 140 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 12:05:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 12:05:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 12:05:58 INFO: [Worker 0] Saved videos eagerly for episode 133 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 12:05:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 12:05:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 12:05:59 INFO: [Worker 0] Saved videos eagerly for episode 129 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 12:05:59 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 12:05:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 12:06:01 INFO: [Worker 0] Saved videos eagerly for episode 138 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 12:06:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 12:06:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 12:06:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 12:06:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 12:06:02 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.26s (batch: 4.27s, save: 8.99s)	[pipeline.py: 300]
+05/10 12:06:02 INFO: [Worker 0] [PROFILE] Episode 187 house 1 success=True episode_total=0.48s:
+  episode_total: mean=189.69s, total=189.69s, count=1, min=189688.2ms, max=189688.2ms
+  sensor_polling: mean=475.3ms, total=142.60s, count=300, min=399.0ms, max=892.7ms
+  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8989.5ms, max=8989.5ms
+  physics_step: mean=23.6ms, total=7.08s, count=300, min=13.7ms, max=56.6ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4274.6ms, max=4274.6ms
+  task_sampling: mean=476.8ms, total=476.8ms, count=1, min=476.8ms, max=476.8ms
+  task_specific_sample: mean=473.5ms, total=473.5ms, count=1, min=473.5ms, max=473.5ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=381.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.0us, 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]
+05/10 12:06:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 12:06:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 12:06:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 12:06:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:06:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:06:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:06:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:06:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 12:06:04 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: 178]
+05/10 12:06:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 12:06:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.030m, effective arm-mount z=0.830m (base_body_z=-0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.029621m	[env.py: 870]
+05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 12:06:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95071494  0.89115371 -0.02962072] yaw=-143.5deg	[env.py: 1019]
+05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69957991  0.27735545 -0.02962072] yaw=163.8deg	[env.py: 1019]
+05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85746957  0.83934101 -0.02962072] yaw=-148.0deg	[env.py: 1019]
+05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 12:06:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.5ms, total=112.5ms	[env.py: 1075]
+05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.951, 0.891, -0.030)	[env.py: 1079]
+05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.5 deg	[env.py: 1082]
+05/10 12:06:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
+05/10 12:06:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:06:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:06:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:06:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:06:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 12:06:04 INFO: [Worker 0] Worker 0 house 1 episode 188/240 collected=0/40	[pipeline.py: 1044]
+05/10 12:06:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/10 12:06:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:06:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:06:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:06:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.628s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:06:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.402[m] 86.259[deg]	[grasp_sample.py: 539]
+05/10 12:06:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 12:06:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 12:06:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:06:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 12:06:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 12:06:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.50s (batch: 3.90s, save: 7.60s)	[pipeline.py: 300]
+05/10 12:06:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 12:06:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 12:06:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.03s (batch: 3.61s, save: 7.42s)	[pipeline.py: 300]
+05/10 12:06:10 INFO: [Worker 0] [PROFILE] Episode 181 house 1 success=True episode_total=0.38s:
+  episode_total: mean=189.90s, total=189.90s, count=1, min=189900.8ms, max=189900.8ms
+  sensor_polling: mean=472.7ms, total=141.82s, count=300, min=385.6ms, max=851.1ms
+  save_trajectories: mean=7.60s, total=7.60s, count=1, min=7601.7ms, max=7601.7ms
+  physics_step: mean=23.0ms, total=6.90s, count=300, min=13.1ms, max=46.2ms
+  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3902.2ms, max=3902.2ms
+  task_sampling: mean=382.9ms, total=382.9ms, count=1, min=382.9ms, max=382.9ms
+  task_specific_sample: mean=379.2ms, total=379.2ms, count=1, min=379.2ms, max=379.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=378.2us, 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]
+05/10 12:06:10 INFO: [Worker 0] [PROFILE] Episode 192 house 1 success=True episode_total=0.41s:
+  episode_total: mean=193.91s, total=193.91s, count=1, min=193913.4ms, max=193913.4ms
+  sensor_polling: mean=472.3ms, total=141.70s, count=300, min=389.8ms, max=990.2ms
+  save_trajectories: mean=7.42s, total=7.42s, count=1, min=7419.4ms, max=7419.4ms
+  physics_step: mean=23.9ms, total=7.16s, count=300, min=13.3ms, max=69.3ms
+  save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3615.0ms, max=3615.0ms
+  task_sampling: mean=409.7ms, total=409.7ms, count=1, min=409.7ms, max=409.7ms
+  task_specific_sample: mean=406.2ms, total=406.2ms, count=1, min=406.2ms, max=406.2ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=452.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 12:06:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 12:06:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 12:06:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:06:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 12:06:12 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: 178]
+05/10 12:06:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 12:06:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007290m	[env.py: 870]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 12:06:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97859048  0.58708631  0.00728997] yaw=-161.8deg	[env.py: 1019]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7422492   0.32099077  0.00728997] yaw=169.3deg	[env.py: 1019]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.03125872  0.74956926  0.00728997] yaw=-158.0deg	[env.py: 1019]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 12:06:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.3ms, total=120.3ms	[env.py: 1075]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.979, 0.587, 0.007)	[env.py: 1079]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.8 deg	[env.py: 1082]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.731m	[env.py: 1086]
+05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:06:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 12:06:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 12:06:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:06:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 12:06:12 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: 178]
+05/10 12:06:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 12:06:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.033m, effective arm-mount z=0.827m (base_body_z=-0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033490m	[env.py: 870]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 12:06:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06771735  1.27564744 -0.03349049] yaw=-124.6deg	[env.py: 1019]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.23912636  1.01671378 -0.03349049] yaw=-124.1deg	[env.py: 1019]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97128901  0.24786687 -0.03349049] yaw=156.1deg	[env.py: 1019]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 12:06:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.3ms, total=127.3ms	[env.py: 1075]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.068, 1.276, -0.033)	[env.py: 1079]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.6 deg	[env.py: 1082]
+05/10 12:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m	[env.py: 1086]
+05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:06:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:06:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 12:06:12 INFO: [Worker 0] Worker 0 house 1 episode 182/240 collected=0/40	[pipeline.py: 1044]
+05/10 12:06:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 12:06:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:06:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:06:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:06:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 12:06:12 INFO: [Worker 0] Worker 0 house 1 episode 193/240 collected=0/40	[pipeline.py: 1044]
+05/10 12:06:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/10 12:06:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:06:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:06:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:06:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.385s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:06:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.336[m] 95.643[deg]	[grasp_sample.py: 539]
+05/10 12:06:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 12:06:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 12:06:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.73s (batch: 4.05s, save: 7.69s)	[pipeline.py: 300]
+05/10 12:06:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 12:06:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 12:06:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:06:13 INFO: [Worker 0] [PROFILE] Episode 181 house 1 success=True episode_total=0.35s:
+  episode_total: mean=194.65s, total=194.65s, count=1, min=194645.7ms, max=194645.7ms
+  sensor_polling: mean=471.5ms, total=141.46s, count=300, min=380.0ms, max=910.1ms
+  save_trajectories: mean=7.69s, total=7.69s, count=1, min=7685.7ms, max=7685.7ms
+  physics_step: mean=23.4ms, total=7.01s, count=300, min=16.7ms, max=67.0ms
+  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4045.4ms, max=4045.4ms
+  task_sampling: mean=351.8ms, total=351.8ms, count=1, min=351.8ms, max=351.8ms
+  task_specific_sample: mean=348.8ms, total=348.8ms, count=1, min=348.8ms, max=348.8ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=374.5us, 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]
+05/10 12:06:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.425s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:06:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.619[m] 94.707[deg]	[grasp_sample.py: 539]
+05/10 12:06:15 ERROR: [Worker 0] Worker 0 house 1 episode 193 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 12:06:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 12:06:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 12:06:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 12:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:06:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 12:06:15 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: 178]
+05/10 12:06:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 12:06:15 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: 256]
+05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000097m	[env.py: 870]
+05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 12:06:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01574956e+00  1.07613803e+00  9.69099477e-05] yaw=-150.3deg	[env.py: 1019]
+05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-8.82561252e-01  8.14508641e-01  9.69099477e-05] yaw=-152.6deg	[env.py: 1019]
+05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-9.42614187e-01  2.67596211e-01  9.69099477e-05] yaw=169.2deg	[env.py: 1019]
+05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 12:06:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.8ms, total=139.8ms	[env.py: 1075]
+05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.016, 1.076, 0.000)	[env.py: 1079]
+05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.3 deg	[env.py: 1082]
+05/10 12:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m	[env.py: 1086]
+05/10 12:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:06:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 12:06:15 INFO: [Worker 0] Worker 0 house 1 episode 182/240 collected=0/40	[pipeline.py: 1044]
+05/10 12:06:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/10 12:06:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:06:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:06:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:06:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 12:06:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 12:06:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 12:06:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:06:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:06:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:06:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:06:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 12:06:16 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: 178]
+05/10 12:06:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 12:06:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 12:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 12:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 12:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037044m	[env.py: 870]
+05/10 12:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 12:06:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 12:06:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 12:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06033502  0.1366904   0.03704419] yaw=153.6deg	[env.py: 1019]
+05/10 12:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 12:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03422165  0.6987055   0.03704419] yaw=-167.0deg	[env.py: 1019]
+05/10 12:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 12:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72589436  0.77884149  0.03704419] yaw=-169.8deg	[env.py: 1019]
+05/10 12:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 12:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 12:06:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=70.3ms, total=70.3ms	[env.py: 1075]
+05/10 12:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.060, 0.137, 0.037)	[env.py: 1079]
+05/10 12:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.6 deg	[env.py: 1082]
+05/10 12:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.729m	[env.py: 1086]
+05/10 12:06:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:06:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:06:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:06:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:06:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 12:06:17 INFO: [Worker 0] Worker 0 house 1 episode 194/240 collected=0/40	[pipeline.py: 1044]
+05/10 12:06:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/10 12:06:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:06:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:06:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:06:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.464s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:06:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.553[m] 94.505[deg]	[grasp_sample.py: 539]
+05/10 12:06:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 12:06:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.454s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:06:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.291[m] 92.137[deg]	[grasp_sample.py: 539]
+05/10 12:06:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 12:06:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 12:06:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:06:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 12:06:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:06:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:06:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:06:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:06:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 12:06:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 12:06:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 12:06:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:06:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:06:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:07:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:07:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 12:07:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:07:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:07:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:07:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:07:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:07:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:07:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:07:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:07:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:07:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:07:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:07:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:07:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:07:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:07:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:07:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:07:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:08:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:08:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:08:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:08:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 12:08:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 12:08:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:08:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:08:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:08:06 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.389s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:08:06 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.453[deg]	[grasp_sample.py: 539]
+05/10 12:08:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 12:08:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 12:08:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:08:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:08:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:08:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:08:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:08:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:08:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:08:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:08:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:08:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:08:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 12:08:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 12:08:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:08:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:08:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:08:19 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.405s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:08:19 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.617[deg]	[grasp_sample.py: 539]
+05/10 12:08:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 12:08:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 12:08:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:08:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 12:08:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:08:29 INFO: [Worker 0] Worker 0 house 1 episode 188 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 12:08:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:08:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:08:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:08:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:08:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:08:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 12:08:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:08:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:08:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:08:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:08:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:08:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 12:08:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 12:08:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:08:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:08:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:08:51 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.206s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:08:51 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.272[deg]	[grasp_sample.py: 539]
+05/10 12:08:53 ERROR: [Worker 0] Worker 0 house 1 episode 182 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 12:08:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 12:08:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 12:08:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 12:08:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:08:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:08:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:08:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:08:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 12:08:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 12:08:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 12:08:55 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: 256]
+05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029466m	[env.py: 870]
+05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 12:08:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 12:08:55 INFO: [Worker 0] Saved videos eagerly for episode 141 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 12:08:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 12:08:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93834039  1.07849475  0.02946636] yaw=-137.6deg	[env.py: 1019]
+05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87889994  0.94592002  0.02946636] yaw=-155.1deg	[env.py: 1019]
+05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92268929  1.14871873  0.02946636] yaw=-148.7deg	[env.py: 1019]
+05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 12:08:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=307.2ms, total=307.3ms	[env.py: 1075]
+05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.938, 1.078, 0.029)	[env.py: 1079]
+05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.6 deg	[env.py: 1082]
+05/10 12:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m	[env.py: 1086]
+05/10 12:08:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:08:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:08:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:08:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:08:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 12:08:55 INFO: [Worker 0] Worker 0 house 1 episode 183/240 collected=0/40	[pipeline.py: 1044]
+05/10 12:08:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/10 12:08:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:08:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:08:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:08:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.592s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:08:58 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.524[m] 75.927[deg]	[grasp_sample.py: 539]
+05/10 12:09:00 ERROR: [Worker 0] Worker 0 house 1 episode 183 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 12:09:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 12:09:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 12:09:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 12:09:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:09:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:09:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 12:09:02 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: 178]
+05/10 12:09:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 12:09:02 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: 256]
+05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011437m	[env.py: 870]
+05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 12:09:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77028095  0.11417858  0.01143702] yaw=151.4deg	[env.py: 1019]
+05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 12:09:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=446.1ms, total=446.1ms	[env.py: 1075]
+05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.770, 0.114, 0.011)	[env.py: 1079]
+05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.4 deg	[env.py: 1082]
+05/10 12:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
+05/10 12:09:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:09:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:09:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 12:09:02 INFO: [Worker 0] Worker 0 house 1 episode 184/240 collected=0/40	[pipeline.py: 1044]
+05/10 12:09:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/10 12:09:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:09:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:09:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:09:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.033s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:09:04 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.549[m] 87.753[deg]	[grasp_sample.py: 539]
+05/10 12:09:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 12:09:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 12:09:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:09:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 12:09:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 12:09:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.37s (batch: 4.63s, save: 9.74s)	[pipeline.py: 300]
+05/10 12:09:10 INFO: [Worker 0] [PROFILE] Episode 188 house 1 success=True episode_total=0.44s:
+  episode_total: mean=186.44s, total=186.44s, count=1, min=186439.8ms, max=186439.8ms
+  sensor_polling: mean=448.3ms, total=134.48s, count=300, min=372.7ms, max=735.8ms
+  save_trajectories: mean=9.74s, total=9.74s, count=1, min=9739.8ms, max=9739.8ms
+  physics_step: mean=21.1ms, total=6.33s, count=300, min=13.8ms, max=65.6ms
+  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4633.2ms, max=4633.2ms
+  task_sampling: mean=435.8ms, total=435.8ms, count=1, min=435.8ms, max=435.8ms
+  task_specific_sample: mean=432.4ms, total=432.4ms, count=1, min=432.4ms, max=432.4ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=379.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 12:09:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 12:09:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 12:09:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 12:09:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:09:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:09:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 12:09:12 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: 178]
+05/10 12:09:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 12:09:12 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: 256]
+05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033167m	[env.py: 870]
+05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 12:09:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85335772  0.68118735  0.03316732] yaw=-174.2deg	[env.py: 1019]
+05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93868844  0.19831893  0.03316732] yaw=156.9deg	[env.py: 1019]
+05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.83946424  0.03672617  0.03316732] yaw=141.5deg	[env.py: 1019]
+05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 12:09:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.2ms, total=181.2ms	[env.py: 1075]
+05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.681, 0.033)	[env.py: 1079]
+05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.2 deg	[env.py: 1082]
+05/10 12:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m	[env.py: 1086]
+05/10 12:09:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:09:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:09:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 12:09:12 INFO: [Worker 0] Worker 0 house 1 episode 189/240 collected=0/40	[pipeline.py: 1044]
+05/10 12:09:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/10 12:09:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:09:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:09:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:09:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.444s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:09:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.435[m] 85.095[deg]	[grasp_sample.py: 539]
+05/10 12:09:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 12:09:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 12:09:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:09:15 INFO: [Worker 0] Worker 0 house 1 episode 182 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 12:09:16 INFO: [Worker 0] Worker 0 house 1 episode 194 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 12:09:35 INFO: [Worker 0] Saved videos eagerly for episode 134 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 12:09:35 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 12:09:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 12:09:37 INFO: [Worker 0] Saved videos eagerly for episode 130 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 12:09:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 12:09:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 12:09:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 12:09:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 12:09:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.28s (batch: 3.94s, save: 8.35s)	[pipeline.py: 300]
+05/10 12:09:48 INFO: [Worker 0] [PROFILE] Episode 182 house 1 success=True episode_total=0.44s:
+  episode_total: mean=216.49s, total=216.49s, count=1, min=216490.8ms, max=216490.8ms
+  sensor_polling: mean=464.2ms, total=139.26s, count=300, min=389.8ms, max=805.4ms
+  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8345.9ms, max=8345.9ms
+  physics_step: mean=20.5ms, total=6.15s, count=300, min=16.3ms, max=50.4ms
+  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3936.1ms, max=3936.1ms
+  task_sampling: mean=440.3ms, total=440.3ms, count=1, min=440.3ms, max=440.3ms
+  task_specific_sample: mean=436.9ms, total=436.9ms, count=1, min=436.9ms, max=436.9ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=373.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 12:09:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 12:09:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 12:09:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 12:09:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:09:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:09:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:09:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:09:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 12:09:50 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: 178]
+05/10 12:09:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 12:09:50 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: 256]
+05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012413m	[env.py: 870]
+05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 12:09:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85356968  0.50452584  0.01241253] yaw=-174.3deg	[env.py: 1019]
+05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77672624  0.36670395  0.01241253] yaw=183.5deg	[env.py: 1019]
+05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93623611  0.90193272  0.01241253] yaw=-143.3deg	[env.py: 1019]
+05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 12:09:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=207.4ms, total=207.4ms	[env.py: 1075]
+05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.854, 0.505, 0.012)	[env.py: 1079]
+05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.3 deg	[env.py: 1082]
+05/10 12:09:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
+05/10 12:09:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:09:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:09:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:09:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:09:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 12:09:51 INFO: [Worker 0] Worker 0 house 1 episode 183/240 collected=0/40	[pipeline.py: 1044]
+05/10 12:09:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/10 12:09:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:09:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:09:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:09:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 12:09:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 12:09:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.38s (batch: 3.88s, save: 10.50s)	[pipeline.py: 300]
+05/10 12:09:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.002s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:09:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.415[m] 94.527[deg]	[grasp_sample.py: 539]
+05/10 12:09:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 12:09:52 INFO: [Worker 0] [PROFILE] Episode 194 house 1 success=True episode_total=0.67s:
+  episode_total: mean=109.19s, total=218.38s, count=2, min=2895.3ms, max=215485.5ms
+  sensor_polling: mean=458.3ms, total=137.50s, count=300, min=395.7ms, max=900.1ms
+  save_trajectories: mean=10.50s, total=10.50s, count=1, min=10503.9ms, max=10503.9ms
+  physics_step: mean=22.8ms, total=6.83s, count=300, min=12.4ms, max=77.7ms
+  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3875.2ms, max=3875.2ms
+  task_sampling: mean=336.3ms, total=672.5ms, count=2, min=297.1ms, max=375.5ms
+  task_specific_sample: mean=332.8ms, total=665.5ms, count=2, min=294.3ms, max=371.2ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.1ms, max=2.9ms
+  mj_forward_sync: mean=465.7us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 12:09:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 12:09:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:09:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:09:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 12:09:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 12:09:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 12:09:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:09:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:09:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:09:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:09:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 12:09:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 12:09:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 12:09:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006167m	[env.py: 870]
+05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 12:09:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 126.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99617275  1.02608033  0.00616698] yaw=-153.5deg	[env.py: 1019]
+05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64545364  0.55818757  0.00616698] yaw=-177.6deg	[env.py: 1019]
+05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 12:09:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.05585905  0.75743022  0.00616698] yaw=-165.4deg	[env.py: 1019]
+05/10 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 12:09:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=598.7ms, total=598.7ms	[env.py: 1075]
+05/10 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.996, 1.026, 0.006)	[env.py: 1079]
+05/10 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.5 deg	[env.py: 1082]
+05/10 12:09:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m	[env.py: 1086]
+05/10 12:09:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:09:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:09:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:09:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 12:09:55 INFO: [Worker 0] Worker 0 house 1 episode 195/240 collected=0/40	[pipeline.py: 1044]
+05/10 12:09:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
+05/10 12:09:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:09:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:09:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:09:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:09:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.996s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:09:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.485[m] 90.365[deg]	[grasp_sample.py: 539]
+05/10 12:09:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 12:09:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 12:09:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:10:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 12:10:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 12:10:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:10:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:10:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:10:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:10:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 12:10:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:10:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 12:10:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:11:33 INFO: [Worker 0] Worker 0 house 1 episode 184 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 12:11:45 INFO: [Worker 0] Worker 0 house 1 episode 189 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 12:11:58 INFO: [Worker 0] Saved videos eagerly for episode 139 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 12:11:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 12:11:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 12:12:08 INFO: [Worker 0] Saved videos eagerly for episode 142 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 12:12:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 12:12:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 12:12:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 12:12:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 12:12:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.01s (batch: 4.04s, save: 7.96s)	[pipeline.py: 300]
+05/10 12:12:11 INFO: [Worker 0] [PROFILE] Episode 184 house 1 success=True episode_total=1.59s:
+  episode_total: mean=117.37s, total=352.10s, count=3, min=4959.3ms, max=189131.6ms
+  sensor_polling: mean=456.4ms, total=269.27s, count=590, min=387.6ms, max=1044.5ms
+  physics_step: mean=21.9ms, total=12.90s, count=590, min=13.5ms, max=73.4ms
+  save_trajectories: mean=7.96s, total=7.96s, count=1, min=7964.5ms, max=7964.5ms
+  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4041.7ms, max=4041.7ms
+  task_sampling: mean=530.7ms, total=1.59s, count=3, min=382.4ms, max=677.5ms
+  task_specific_sample: mean=526.9ms, total=1.58s, count=3, min=379.0ms, max=672.3ms
+  scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.3ms, max=2.3ms
+  mj_forward_sync: mean=467.9us, total=1.4ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 12:12:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 12:12:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 12:12:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:12:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 12:12:12 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: 178]
+05/10 12:12:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 12:12:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009318m	[env.py: 870]
+05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 12:12:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01114396  1.23827878 -0.00931843] yaw=-131.8deg	[env.py: 1019]
+05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86567862  0.74934453 -0.00931843] yaw=-167.4deg	[env.py: 1019]
+05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88546457  0.09101373 -0.00931843] yaw=160.6deg	[env.py: 1019]
+05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 12:12:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.2ms, total=98.2ms	[env.py: 1075]
+05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.011, 1.238, -0.009)	[env.py: 1079]
+05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.8 deg	[env.py: 1082]
+05/10 12:12:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m	[env.py: 1086]
+05/10 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:12:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:12:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 12:12:13 INFO: [Worker 0] Worker 0 house 1 episode 185/240 collected=0/40	[pipeline.py: 1044]
+05/10 12:12:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/10 12:12:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:12:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:12:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:12:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.791s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:12:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.604[m] 85.799[deg]	[grasp_sample.py: 539]
+05/10 12:12:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 12:12:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 12:12:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:12:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 12:12:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 12:12:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.70s (batch: 3.90s, save: 7.79s)	[pipeline.py: 300]
+05/10 12:12:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:12:21 INFO: [Worker 0] [PROFILE] Episode 189 house 1 success=True episode_total=0.44s:
+  episode_total: mean=188.89s, total=188.89s, count=1, min=188891.5ms, max=188891.5ms
+  sensor_polling: mean=470.8ms, total=141.23s, count=300, min=398.0ms, max=857.3ms
+  save_trajectories: mean=7.79s, total=7.79s, count=1, min=7793.2ms, max=7793.2ms
+  physics_step: mean=21.2ms, total=6.37s, count=300, min=13.4ms, max=40.7ms
+  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3902.0ms, max=3902.0ms
+  task_sampling: mean=436.2ms, total=436.2ms, count=1, min=436.2ms, max=436.2ms
+  task_specific_sample: mean=432.9ms, total=432.9ms, count=1, min=432.9ms, max=432.9ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=381.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 12:12:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:12:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 12:12:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 12:12:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:12:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 12:12:22 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: 178]
+05/10 12:12:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 12:12:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022092m	[env.py: 870]
+05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 12:12:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99044148  1.31668829  0.02209239] yaw=-128.2deg	[env.py: 1019]
+05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79717546  0.42446513  0.02209239] yaw=177.9deg	[env.py: 1019]
+05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8486097   0.04009654  0.02209239] yaw=161.5deg	[env.py: 1019]
+05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 12:12:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=64.3ms, total=64.3ms	[env.py: 1075]
+05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.990, 1.317, 0.022)	[env.py: 1079]
+05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.2 deg	[env.py: 1082]
+05/10 12:12:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m	[env.py: 1086]
+05/10 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:12:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:12:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 12:12:22 INFO: [Worker 0] Worker 0 house 1 episode 190/240 collected=0/40	[pipeline.py: 1044]
+05/10 12:12:22 INFO: [Worker 0] Worker 0 house 1 episode 183 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 12:12:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/10 12:12:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:12:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:12:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:12:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:12:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.351s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 12:12:24 ERROR: [Worker 0] Worker 0 house 1 episode 190 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 12:12:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:12:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 12:12:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 12:12:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 12:12:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:12:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:12:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:12:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:12:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 12:12:25 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: 178]
+05/10 12:12:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 12:12:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 12:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 12:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 12:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033816m	[env.py: 870]
+05/10 12:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 12:12:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 12:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 12:12:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82480954  0.90116768 -0.03381644] yaw=-148.1deg	[env.py: 1019]
+05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95003875  0.98973595 -0.03381644] yaw=-147.3deg	[env.py: 1019]
+05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90137405  0.60729532 -0.03381644] yaw=-173.4deg	[env.py: 1019]
+05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 12:12:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.0ms, total=185.0ms	[env.py: 1075]
+05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.825, 0.901, -0.034)	[env.py: 1079]
+05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.1 deg	[env.py: 1082]
+05/10 12:12:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/10 12:12:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:12:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:12:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:12:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:12:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 12:12:26 INFO: [Worker 0] Worker 0 house 1 episode 191/240 collected=0/40	[pipeline.py: 1044]
+05/10 12:12:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/10 12:12:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:12:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:12:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:12:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:12:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.333s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:12:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.515[m] 79.088[deg]	[grasp_sample.py: 539]
+05/10 12:12:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 12:12:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:12:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 12:12:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:12:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:12:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 12:12:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 12:12:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 12:12:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:12:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:12:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:12:31 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.385s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:12:31 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.137[deg]	[grasp_sample.py: 539]
+05/10 12:12:32 ERROR: [Worker 0] Worker 0 house 1 episode 195 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 12:12:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 12:12:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 12:12:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 12:12:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:12:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:12:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:12:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:12:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 12:12:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 12:12:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 12:12:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032042m	[env.py: 870]
+05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 12:12:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70103757  0.75001496  0.03204227] yaw=-166.8deg	[env.py: 1019]
+05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84991905  0.09430732  0.03204227] yaw=147.7deg	[env.py: 1019]
+05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97054718  0.62729955  0.03204227] yaw=-171.6deg	[env.py: 1019]
+05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 12:12:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.2ms, total=151.2ms	[env.py: 1075]
+05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.701, 0.750, 0.032)	[env.py: 1079]
+05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.8 deg	[env.py: 1082]
+05/10 12:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m	[env.py: 1086]
+05/10 12:12:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:12:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:12:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:12:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:12:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 12:12:34 INFO: [Worker 0] Worker 0 house 1 episode 196/240 collected=0/40	[pipeline.py: 1044]
+05/10 12:12:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/10 12:12:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:12:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:12:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:12:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.376s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:12:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.628[m] 89.723[deg]	[grasp_sample.py: 539]
+05/10 12:12:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 12:12:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 12:12:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:12:42 INFO: [Worker 0] Saved videos eagerly for episode 135 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 12:12:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 12:12:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 12:12:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 12:12:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 12:12:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.47s (batch: 3.90s, save: 7.58s)	[pipeline.py: 300]
+05/10 12:12:54 INFO: [Worker 0] [PROFILE] Episode 183 house 1 success=True episode_total=0.49s:
+  episode_total: mean=183.75s, total=183.75s, count=1, min=183748.4ms, max=183748.4ms
+  sensor_polling: mean=466.4ms, total=139.93s, count=300, min=388.3ms, max=901.6ms
+  save_trajectories: mean=7.58s, total=7.58s, count=1, min=7577.8ms, max=7577.8ms
+  physics_step: mean=21.2ms, total=6.36s, count=300, min=15.6ms, max=67.2ms
+  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3897.0ms, max=3897.0ms
+  task_sampling: mean=485.1ms, total=485.1ms, count=1, min=485.1ms, max=485.1ms
+  task_specific_sample: mean=478.6ms, total=478.6ms, count=1, min=478.6ms, max=478.6ms
+  scene_randomize: mean=5.1ms, total=5.1ms, count=1, min=5.1ms, max=5.1ms
+  mj_forward_sync: mean=446.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.6us, 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]
+05/10 12:12:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 12:12:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 12:12:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 12:12:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:12:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:12:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:12:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:12:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 12:12:56 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: 178]
+05/10 12:12:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 12:12:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.030m, effective arm-mount z=0.830m (base_body_z=-0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.030100m	[env.py: 870]
+05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 12:12:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95068634  0.08505145 -0.03010029] yaw=149.2deg	[env.py: 1019]
+05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 12:12:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=177.2ms, total=177.3ms	[env.py: 1075]
+05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.951, 0.085, -0.030)	[env.py: 1079]
+05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.2 deg	[env.py: 1082]
+05/10 12:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
+05/10 12:12:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 12:12:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 12:12:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 12:12:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 12:12:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 12:12:56 INFO: [Worker 0] Worker 0 house 1 episode 184/240 collected=0/40	[pipeline.py: 1044]
+05/10 12:12:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
+05/10 12:12:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 12:12:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 12:12:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 12:12:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.797s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 12:12:57 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.428[m] 91.658[deg]	[grasp_sample.py: 539]
+05/10 12:12:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 12:12:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 12:12:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:13:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:13:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:13:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 12:13:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:13:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 12:13:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:13:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:13:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 12:13:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 12:13:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 12:13:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]