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diff --git a/fridge_7/running_log.log b/fridge_7/running_log.log
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   mj_forward_sync: mean=422.9us, total=0.8ms, count=2, min=0.4ms, max=0.5ms
   policy_setup: mean=17.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
   scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:38:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:38:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:38:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:38:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:38:39 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 08:38:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:38:39 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 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033248m	[env.py: 870]
+05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:38:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98311258  0.2196928  -0.03324766] yaw=156.5deg	[env.py: 1019]
+05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:38:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=151.7ms, total=151.7ms	[env.py: 1075]
+05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.983, 0.220, -0.033)	[env.py: 1079]
+05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.5 deg	[env.py: 1082]
+05/10 08:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m	[env.py: 1086]
+05/10 08:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:38:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:38:39 INFO: [Worker 0] Worker 0 house 1 episode 125/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:38:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:38:39 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 08:38:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:38:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:38:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.515s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:38:40 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.346[m] 94.447[deg]	[grasp_sample.py: 539]
+05/10 08:38:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:38:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:38:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:39:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:39:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:39:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:39:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:39:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:39:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:39:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:39:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:39:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:39:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:39:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:39:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:40:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:40:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:40:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:40:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:40:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:40:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:40:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:40:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:40:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:40:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:40:30 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 08:40:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:40:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:40:31 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.441s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 08:40:31 ERROR: [Worker 0] Worker 0 house 1 episode 120 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 08:40:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:40:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:40:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:40:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:40:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:40:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:40:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:40:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:40:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:40:33 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 08:40:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:40:33 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 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015234m	[env.py: 870]
+05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:40:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65842753  0.77953743 -0.01523372] yaw=-170.0deg	[env.py: 1019]
+05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.760062    0.06623869 -0.01523372] yaw=157.7deg	[env.py: 1019]
+05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03074826  0.88738594 -0.01523372] yaw=-146.9deg	[env.py: 1019]
+05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:40:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.2ms, total=97.3ms	[env.py: 1075]
+05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.658, 0.780, -0.015)	[env.py: 1079]
+05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.0 deg	[env.py: 1082]
+05/10 08:40:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
+05/10 08:40:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:40:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:40:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:40:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:40:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:40:33 INFO: [Worker 0] Worker 0 house 1 episode 121/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:40:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:40:33 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 08:40:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:40:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:40:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:40:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.493s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:40:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.651[m] 85.475[deg]	[grasp_sample.py: 539]
+05/10 08:40:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:40:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:40:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:40:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:40:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:40:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:40:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:40:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:40:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:40:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:40:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:40:42 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 08:40:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:40:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:40:42 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.367s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:40:42 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.221[deg]	[grasp_sample.py: 539]
+05/10 08:40:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:40:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:40:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:40:47 INFO: [Worker 0] Worker 0 house 1 episode 122 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:40:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:40:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:40:58 INFO: [Worker 0] Worker 0 house 1 episode 127 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:41:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:41:10 INFO: [Worker 0] Saved videos eagerly for episode 90 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:41:10 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 08:41:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:41:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:41:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:41:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:41:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:41:22 INFO: [Worker 0] Saved videos eagerly for episode 82 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:41:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 08:41:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:41:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:41:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:41:23 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.83s (batch: 3.95s, save: 8.88s)	[pipeline.py: 300]
+05/10 08:41:23 INFO: [Worker 0] [PROFILE] Episode 122 house 1 success=True episode_total=1.28s:
+  episode_total: mean=184.57s, total=184.57s, count=1, min=184567.7ms, max=184567.7ms
+  sensor_polling: mean=451.7ms, total=135.50s, count=300, min=408.1ms, max=936.6ms
+  save_trajectories: mean=8.88s, total=8.88s, count=1, min=8884.7ms, max=8884.7ms
+  physics_step: mean=20.8ms, total=6.25s, count=300, min=17.1ms, max=56.3ms
+  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3945.5ms, max=3945.5ms
+  task_sampling: mean=1.28s, total=1.28s, count=1, min=1278.2ms, max=1278.2ms
+  task_specific_sample: mean=1.27s, total=1.27s, count=1, min=1274.4ms, max=1274.4ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=482.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=26.8us, 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 08:41:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:41:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:41:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:41:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:41:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:41:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:41:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:41:25 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 08:41:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:41:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.028m, effective arm-mount z=0.832m (base_body_z=-0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.027645m	[env.py: 870]
+05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:41:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01543389  1.19691827 -0.02764545] yaw=-122.7deg	[env.py: 1019]
+05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:41:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96897842  0.50308475 -0.02764545] yaw=-171.3deg	[env.py: 1019]
+05/10 08:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.98161845  0.174933   -0.02764545] yaw=150.2deg	[env.py: 1019]
+05/10 08:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:41:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=703.4ms, total=703.4ms	[env.py: 1075]
+05/10 08:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.015, 1.197, -0.028)	[env.py: 1079]
+05/10 08:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.7 deg	[env.py: 1082]
+05/10 08:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/10 08:41:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:41:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:41:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:41:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:41:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:41:26 INFO: [Worker 0] Worker 0 house 1 episode 123/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:41:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:41:26 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 08:41:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:41:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:41:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:41:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.733s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:41:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.567[m] 92.495[deg]	[grasp_sample.py: 539]
+05/10 08:41:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:41:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:41:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:41:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:41:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:41:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:41:32 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 08:41:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:41:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:41:35 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.326s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:41:35 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.781[deg]	[grasp_sample.py: 539]
+05/10 08:41:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:41:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:41:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:41:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:41:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:41:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:41:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.36s (batch: 4.63s, save: 11.73s)	[pipeline.py: 300]
+05/10 08:41:39 INFO: [Worker 0] [PROFILE] Episode 127 house 1 success=True episode_total=0.46s:
+  episode_total: mean=187.71s, total=187.71s, count=1, min=187709.6ms, max=187709.6ms
+  sensor_polling: mean=454.9ms, total=136.46s, count=300, min=406.3ms, max=774.8ms
+  save_trajectories: mean=11.73s, total=11.73s, count=1, min=11725.3ms, max=11725.3ms
+  physics_step: mean=21.1ms, total=6.33s, count=300, min=16.6ms, max=36.9ms
+  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4631.3ms, max=4631.3ms
+  task_sampling: mean=456.4ms, total=456.4ms, count=1, min=456.4ms, max=456.4ms
+  task_specific_sample: mean=451.7ms, total=451.7ms, count=1, min=451.7ms, max=451.7ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=581.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:41:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:41:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:41:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:41:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:41:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:41:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:41:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:41:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:41:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:41:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:41:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:41:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001084m	[env.py: 870]
+05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:41:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87062618  0.73558895 -0.00108431] yaw=-169.9deg	[env.py: 1019]
+05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91746967  0.35527615 -0.00108431] yaw=169.6deg	[env.py: 1019]
+05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.00337334e+00  1.16178510e+00 -1.08431457e-03] yaw=-141.0deg	[env.py: 1019]
+05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:41:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=245.9ms, total=246.0ms	[env.py: 1075]
+05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.871, 0.736, -0.001)	[env.py: 1079]
+05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.9 deg	[env.py: 1082]
+05/10 08:41:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m	[env.py: 1086]
+05/10 08:41:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:41:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:41:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:41:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:41:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:41:42 INFO: [Worker 0] Worker 0 house 1 episode 128/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:41:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:41:42 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 08:41:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:41:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:41:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.570s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:41:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.441[m] 85.944[deg]	[grasp_sample.py: 539]
+05/10 08:41:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:41:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:41:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:41:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:41:49 INFO: [Worker 0] Worker 0 house 1 episode 125 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:41:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:42:16 INFO: [Worker 0] Saved videos eagerly for episode 91 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:42:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 08:42:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:42:21 ERROR: [Worker 0] Failed to save trajectory data for sim: [Errno 11] Unable to synchronously open file (unable to lock file, errno = 11, error message = 'Resource temporarily unavailable')	[pipeline.py: 309]
+05/10 08:42:21 INFO: [Worker 0] [PROFILE] Episode 125 house 1 success=True episode_total=0.41s:
+  episode_total: mean=221.94s, total=221.94s, count=1, min=221944.4ms, max=221944.4ms
+  sensor_polling: mean=474.4ms, total=142.31s, count=300, min=400.3ms, max=983.0ms
+  physics_step: mean=21.4ms, total=6.42s, count=300, min=14.6ms, max=76.3ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4401.4ms, max=4401.4ms
+  task_sampling: mean=412.2ms, total=412.2ms, count=1, min=412.2ms, max=412.2ms
+  task_specific_sample: mean=408.7ms, total=408.7ms, count=1, min=408.7ms, max=408.7ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  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 08:42:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:42:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:42:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:42:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:42:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:42:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:42:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:42:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:42:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001899m	[env.py: 870]
+05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:42:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89414271  0.54109853 -0.00189858] yaw=-173.0deg	[env.py: 1019]
+05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:42:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=325.1ms, total=325.1ms	[env.py: 1075]
+05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.894, 0.541, -0.002)	[env.py: 1079]
+05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.0 deg	[env.py: 1082]
+05/10 08:42:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
+05/10 08:42:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:42:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:42:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:42:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:42:23 INFO: [Worker 0] Worker 0 house 1 episode 126/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:42:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:42:23 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 08:42:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:42:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:42:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.985s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:42:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.348[m] 80.922[deg]	[grasp_sample.py: 539]
+05/10 08:42:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:42:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:42:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:42:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:42:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:42:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:42:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:42:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:42:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:42:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:43:08 INFO: [Worker 0] Worker 0 house 1 episode 121 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:43:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:43:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:43:32 INFO: [Worker 0] Saved videos eagerly for episode 88 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:43:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 08:43:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:43:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:43:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:43:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:43:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:43:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:43:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:43:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:43:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:43:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:43:45 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.76s (batch: 3.70s, save: 9.06s)	[pipeline.py: 300]
+05/10 08:43:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:43:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:43:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:43:46 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 08:43:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:43:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:43:46 INFO: [Worker 0] [PROFILE] Episode 121 house 1 success=True episode_total=0.85s:
+  episode_total: mean=166.30s, total=332.59s, count=2, min=139497.8ms, max=193095.0ms
+  sensor_polling: mean=466.3ms, total=263.44s, count=565, min=383.4ms, max=832.4ms
+  physics_step: mean=21.4ms, total=12.11s, count=565, min=14.2ms, max=61.5ms
+  save_trajectories: mean=9.06s, total=9.06s, count=1, min=9059.3ms, max=9059.3ms
+  save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3700.3ms, max=3700.3ms
+  task_sampling: mean=422.8ms, total=845.6ms, count=2, min=398.3ms, max=447.3ms
+  task_specific_sample: mean=419.5ms, total=839.1ms, count=2, min=395.4ms, max=443.7ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=399.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.8us, 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 08:43:47 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.493s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:43:47 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.105[m] 5.249[deg]	[grasp_sample.py: 539]
+05/10 08:43:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:43:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:43:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:43:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:43:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:43:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:43:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:43:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:43:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:43:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:43:47 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 08:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.029109m	[env.py: 870]
+05/10 08:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:43:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.64874183  0.69917288 -0.02910926] yaw=-161.4deg	[env.py: 1019]
+05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77403626  0.87763256 -0.02910926] yaw=-154.1deg	[env.py: 1019]
+05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98810028  0.53997202 -0.02910926] yaw=-173.5deg	[env.py: 1019]
+05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:43:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.2ms, total=105.2ms	[env.py: 1075]
+05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.649, 0.699, -0.029)	[env.py: 1079]
+05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.4 deg	[env.py: 1082]
+05/10 08:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
+05/10 08:43:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:43:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:43:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:43:48 INFO: [Worker 0] Worker 0 house 1 episode 122/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:43:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:43:48 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 08:43:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:43:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:43:49 ERROR: [Worker 0] Worker 0 house 1 episode 123 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 08:43:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.130s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:43:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.616[m] 83.315[deg]	[grasp_sample.py: 539]
+05/10 08:43:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:43:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:43:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:43:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:43:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:43:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:43:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:43:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:43:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:43:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:43:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:43:50 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 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013084m	[env.py: 870]
+05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:43:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65859549  0.40513271 -0.01308378] yaw=165.0deg	[env.py: 1019]
+05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72707049  0.3993966  -0.01308378] yaw=166.5deg	[env.py: 1019]
+05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92187274  0.47587572 -0.01308378] yaw=171.4deg	[env.py: 1019]
+05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:43:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.0ms, total=148.0ms	[env.py: 1075]
+05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.659, 0.405, -0.013)	[env.py: 1079]
+05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.0 deg	[env.py: 1082]
+05/10 08:43:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
+05/10 08:43:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:43:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:43:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:43:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:43:51 INFO: [Worker 0] Worker 0 house 1 episode 124/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:43:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:43:51 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 08:43:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:43:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:43:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.005s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:43:52 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.640[m] 96.545[deg]	[grasp_sample.py: 539]
+05/10 08:43:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:43:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:43:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:44:20 INFO: [Worker 0] Worker 0 house 1 episode 128 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:44:46 INFO: [Worker 0] Saved videos eagerly for episode 83 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:44:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 08:44:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:44:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:44:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:44:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:44:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:44:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.03s (batch: 4.49s, save: 8.54s)	[pipeline.py: 300]
+05/10 08:45:00 INFO: [Worker 0] [PROFILE] Episode 128 house 1 success=True episode_total=0.59s:
+  episode_total: mean=198.56s, total=198.56s, count=1, min=198563.9ms, max=198563.9ms
+  sensor_polling: mean=488.8ms, total=146.63s, count=300, min=408.2ms, max=773.3ms
+  save_trajectories: mean=8.54s, total=8.54s, count=1, min=8537.5ms, max=8537.5ms
+  physics_step: mean=23.0ms, total=6.89s, count=300, min=16.7ms, max=65.6ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4494.2ms, max=4494.2ms
+  task_sampling: mean=591.8ms, total=591.8ms, count=1, min=591.8ms, max=591.8ms
+  task_specific_sample: mean=587.9ms, total=587.9ms, count=1, min=587.9ms, max=587.9ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=555.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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 08:45:00 INFO: [Worker 0] Worker 0 house 1 episode 126 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:45:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:45:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:45:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:45:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:45:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:45:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:45:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:45:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:45:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:45:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:45:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:45:01 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 08:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022052m	[env.py: 870]
+05/10 08:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:45:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91481232  0.85167558  0.02205235] yaw=-153.4deg	[env.py: 1019]
+05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98043451  0.91403449  0.02205235] yaw=-139.5deg	[env.py: 1019]
+05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95116627  1.10358008  0.02205235] yaw=-150.4deg	[env.py: 1019]
+05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:45:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=383.7ms, total=383.7ms	[env.py: 1075]
+05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.915, 0.852, 0.022)	[env.py: 1079]
+05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.4 deg	[env.py: 1082]
+05/10 08:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m	[env.py: 1086]
+05/10 08:45:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:45:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:45:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:45:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:45:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:45:02 INFO: [Worker 0] Worker 0 house 1 episode 129/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:45:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:45:02 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 08:45:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:45:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:45:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.607s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:45:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.426[m] 87.522[deg]	[grasp_sample.py: 539]
+05/10 08:45:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:45:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:45:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:45:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:45:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:45:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:45:26 INFO: [Worker 0] Saved videos eagerly for episode 92 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:45:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 08:45:26 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
+05/10 08:45:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:45:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:45:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:45:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:45:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:45:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:45:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:45:38 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.09s (batch: 3.81s, save: 8.28s)	[pipeline.py: 300]
+05/10 08:45:38 INFO: [Worker 0] [PROFILE] Episode 126 house 1 success=True episode_total=0.62s:
+  episode_total: mean=195.69s, total=195.69s, count=1, min=195687.7ms, max=195687.7ms
+  sensor_polling: mean=485.5ms, total=140.81s, count=290, min=398.9ms, max=845.8ms
+  save_trajectories: mean=8.28s, total=8.28s, count=1, min=8277.1ms, max=8277.1ms
+  physics_step: mean=23.1ms, total=6.70s, count=290, min=16.9ms, max=60.6ms
+  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3811.3ms, max=3811.3ms
+  task_sampling: mean=615.6ms, total=615.6ms, count=1, min=615.6ms, max=615.6ms
+  task_specific_sample: mean=612.1ms, total=612.1ms, count=1, min=612.1ms, max=612.1ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=497.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:45:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:45:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:45:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:45:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:45:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:45:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:45:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:45:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:45:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:45:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:45:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:45:40 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 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017107m	[env.py: 870]
+05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:45:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95963487  0.84224347  0.01710698] yaw=-143.5deg	[env.py: 1019]
+05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78579557  1.03770069  0.01710698] yaw=-157.7deg	[env.py: 1019]
+05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95311179  1.15493466  0.01710698] yaw=-129.7deg	[env.py: 1019]
+05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:45:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=321.2ms, total=321.2ms	[env.py: 1075]
+05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.960, 0.842, 0.017)	[env.py: 1079]
+05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.5 deg	[env.py: 1082]
+05/10 08:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/10 08:45:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:45:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:45:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:45:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:45:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:45:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:45:40 INFO: [Worker 0] Worker 0 house 1 episode 127/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:45:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:45:41 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 08:45:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:45:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:45:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.208s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:45:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.388[m] 89.592[deg]	[grasp_sample.py: 539]
+05/10 08:45:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:45:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:45:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:45:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:45:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:45:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:45:43 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 08:45:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:45:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:45:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:45:44 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.794s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:45:44 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.579[deg]	[grasp_sample.py: 539]
+05/10 08:45:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:45:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:45:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:45:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:45:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:45:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:46:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:46:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:46:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:46:22 INFO: [Worker 0] Worker 0 house 1 episode 122 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:46:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:46:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:46:44 INFO: [Worker 0] Saved videos eagerly for episode 89 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:46:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 08:46:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:46:48 INFO: [Worker 0] Worker 0 house 1 episode 124 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 08:46:48 INFO: [Worker 0] [PROFILE] Episode 124 house 1 success=False episode_total=1.46s:
+  episode_total: mean=160.57s, total=321.14s, count=2, min=143614.9ms, max=177526.9ms
+  sensor_polling: mean=478.3ms, total=258.74s, count=541, min=404.0ms, max=855.5ms
+  physics_step: mean=22.3ms, total=12.06s, count=541, min=15.5ms, max=61.6ms
+  task_sampling: mean=732.5ms, total=1.46s, count=2, min=412.7ms, max=1052.3ms
+  task_specific_sample: mean=728.8ms, total=1.46s, count=2, min=409.3ms, max=1048.3ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.5ms, max=2.6ms
+  mj_forward_sync: mean=496.6us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.8us, 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 08:46:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:46:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:46:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:46:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:46:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:46:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:46:49 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 08:46:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:46:49 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 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037297m	[env.py: 870]
+05/10 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:46:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88051623  0.61732352  0.03729713] yaw=-175.7deg	[env.py: 1019]
+05/10 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.65897549  0.51243694  0.03729713] yaw=-186.8deg	[env.py: 1019]
+05/10 08:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:46:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=153.2ms, total=153.3ms	[env.py: 1075]
+05/10 08:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.617, 0.037)	[env.py: 1079]
+05/10 08:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.7 deg	[env.py: 1082]
+05/10 08:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
+05/10 08:46:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:46:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:46:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:46:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:46:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:46:50 INFO: [Worker 0] Worker 0 house 1 episode 125/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:46:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:46:50 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 08:46:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:46:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:46:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.517s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:46:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.425[m] 97.296[deg]	[grasp_sample.py: 539]
+05/10 08:46:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:46:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:46:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:46:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:46:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:46:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.78s (batch: 3.92s, save: 8.85s)	[pipeline.py: 300]
+05/10 08:46:58 INFO: [Worker 0] [PROFILE] Episode 122 house 1 success=True episode_total=0.73s:
+  episode_total: mean=190.48s, total=190.48s, count=1, min=190479.9ms, max=190479.9ms
+  sensor_polling: mean=474.7ms, total=142.41s, count=300, min=393.9ms, max=819.9ms
+  save_trajectories: mean=8.85s, total=8.85s, count=1, min=8853.1ms, max=8853.1ms
+  physics_step: mean=22.0ms, total=6.60s, count=300, min=13.2ms, max=84.3ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3922.4ms, max=3922.4ms
+  task_sampling: mean=728.5ms, total=728.5ms, count=1, min=728.5ms, max=728.5ms
+  task_specific_sample: mean=724.3ms, total=724.3ms, count=1, min=724.3ms, max=724.3ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=527.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.8us, 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 08:47:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:47:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:47:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:47:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:47:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:47:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:47:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:47:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:47:00 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 08:47:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:47:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.028m, effective arm-mount z=0.832m (base_body_z=-0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.027931m	[env.py: 870]
+05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:47:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.23161176  1.07464444 -0.02793092] yaw=-138.2deg	[env.py: 1019]
+05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00528666  0.27198425 -0.02793092] yaw=170.6deg	[env.py: 1019]
+05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86578837  0.53950615 -0.02793092] yaw=-178.2deg	[env.py: 1019]
+05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:47:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.5ms, total=122.6ms	[env.py: 1075]
+05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.232, 1.075, -0.028)	[env.py: 1079]
+05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.2 deg	[env.py: 1082]
+05/10 08:47:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.757m	[env.py: 1086]
+05/10 08:47:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:47:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:47:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:47:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:47:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:47:00 INFO: [Worker 0] Worker 0 house 1 episode 123/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:47:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:47:00 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 08:47:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:47:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:47:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.421s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:47:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.356[m] 94.475[deg]	[grasp_sample.py: 539]
+05/10 08:47:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:47:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:47:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:47:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:47:34 INFO: [Worker 0] Worker 0 house 1 episode 129 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:47:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:47:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:47:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:47:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:47:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:47:59 INFO: [Worker 0] Saved videos eagerly for episode 84 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:47:59 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 08:47:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:48:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:48:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:48:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.74s (batch: 4.19s, save: 9.55s)	[pipeline.py: 300]
+05/10 08:48:14 INFO: [Worker 0] [PROFILE] Episode 129 house 1 success=True episode_total=0.69s:
+  episode_total: mean=192.64s, total=192.64s, count=1, min=192637.7ms, max=192637.7ms
+  sensor_polling: mean=468.8ms, total=140.63s, count=300, min=393.6ms, max=871.4ms
+  save_trajectories: mean=9.55s, total=9.55s, count=1, min=9549.2ms, max=9549.2ms
+  physics_step: mean=22.1ms, total=6.62s, count=300, min=15.2ms, max=49.0ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4186.7ms, max=4186.7ms
+  task_sampling: mean=687.2ms, total=687.2ms, count=1, min=687.2ms, max=687.2ms
+  task_specific_sample: mean=682.9ms, total=682.9ms, count=1, min=682.9ms, max=682.9ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=485.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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 08:48:14 INFO: [Worker 0] Worker 0 house 1 episode 127 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:48:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:48:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:48:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:48:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:48:16 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 08:48:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:48:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040266m	[env.py: 870]
+05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:48:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.79293318 -0.00418341  0.04026569] yaw=149.3deg	[env.py: 1019]
+05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:48:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=169.1ms, total=169.1ms	[env.py: 1075]
+05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.793, -0.004, 0.040)	[env.py: 1079]
+05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.3 deg	[env.py: 1082]
+05/10 08:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
+05/10 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:48:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:48:16 INFO: [Worker 0] Worker 0 house 1 episode 130/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:48:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:48:16 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 08:48:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:48:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:48:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.972s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:48:21 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.555[m] 85.597[deg]	[grasp_sample.py: 539]
+05/10 08:48:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:48:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:48:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:48:36 INFO: [Worker 0] Saved videos eagerly for episode 93 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:48:36 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 08:48:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:48:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:48:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:48:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.06s (batch: 4.53s, save: 11.53s)	[pipeline.py: 300]
+05/10 08:48:53 INFO: [Worker 0] [PROFILE] Episode 127 house 1 success=True episode_total=0.62s:
+  episode_total: mean=193.16s, total=193.16s, count=1, min=193158.5ms, max=193158.5ms
+  sensor_polling: mean=473.6ms, total=142.08s, count=300, min=400.1ms, max=877.1ms
+  save_trajectories: mean=11.53s, total=11.53s, count=1, min=11530.4ms, max=11530.4ms
+  physics_step: mean=22.7ms, total=6.80s, count=300, min=16.9ms, max=55.9ms
+  save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4526.7ms, max=4526.7ms
+  task_sampling: mean=621.4ms, total=621.4ms, count=1, min=621.4ms, max=621.4ms
+  task_specific_sample: mean=617.1ms, total=617.1ms, count=1, min=617.1ms, max=617.1ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=491.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:48:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:48:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:48:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:48:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:48:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:48:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:48:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:48:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:48:55 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 08:48:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:48:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033524m	[env.py: 870]
+05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:48:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65046697  0.23983834  0.03352407] yaw=167.6deg	[env.py: 1019]
+05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81911324  0.12953032  0.03352407] yaw=156.2deg	[env.py: 1019]
+05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.63451685  0.27703171  0.03352407] yaw=166.0deg	[env.py: 1019]
+05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:48:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.8ms, total=203.8ms	[env.py: 1075]
+05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.650, 0.240, 0.034)	[env.py: 1079]
+05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.6 deg	[env.py: 1082]
+05/10 08:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m	[env.py: 1086]
+05/10 08:48:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:48:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:48:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:48:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:48:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:48:55 INFO: [Worker 0] Worker 0 house 1 episode 128/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:48:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:48:55 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 08:48:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:48:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:48:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.055s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:48:58 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.654[m] 95.903[deg]	[grasp_sample.py: 539]
+05/10 08:48:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:48:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:48:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:49:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:49:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:49:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:49:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:49:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:49:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:49:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:49:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:49:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:49:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:49:11 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 08:49:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:49:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:49:12 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.451s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:49:12 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.299[deg]	[grasp_sample.py: 539]
+05/10 08:49:13 ERROR: [Worker 0] Worker 0 house 1 episode 123 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 08:49:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:49:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:49:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:49:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:49:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:49:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:49:15 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 08:49:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:49:15 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 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007025m	[env.py: 870]
+05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:49:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91018292  0.49604923  0.0070254 ] yaw=-178.9deg	[env.py: 1019]
+05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75203436  0.29024935  0.0070254 ] yaw=178.6deg	[env.py: 1019]
+05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7116042   0.48044217  0.0070254 ] yaw=169.1deg	[env.py: 1019]
+05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:49:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.3ms, total=85.3ms	[env.py: 1075]
+05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.496, 0.007)	[env.py: 1079]
+05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.9 deg	[env.py: 1082]
+05/10 08:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.792m	[env.py: 1086]
+05/10 08:49:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:49:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:49:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:49:15 INFO: [Worker 0] Worker 0 house 1 episode 124/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:49:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:49:15 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 08:49:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:49:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:49:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.428s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:49:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.403[m] 101.186[deg]	[grasp_sample.py: 539]
+05/10 08:49:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:49:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:49:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:49:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:49:26 INFO: [Worker 0] Worker 0 house 1 episode 125 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:49:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:49:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:49:53 INFO: [Worker 0] Saved videos eagerly for episode 91 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:49:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 08:49:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:49:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:50:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:50:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:50:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.92s (batch: 3.99s, save: 7.94s)	[pipeline.py: 300]
+05/10 08:50:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:50:06 INFO: [Worker 0] [PROFILE] Episode 125 house 1 success=True episode_total=0.41s:
+  episode_total: mean=196.52s, total=196.52s, count=1, min=196519.6ms, max=196519.6ms
+  sensor_polling: mean=476.6ms, total=142.98s, count=300, min=399.2ms, max=960.6ms
+  save_trajectories: mean=7.94s, total=7.94s, count=1, min=7935.3ms, max=7935.3ms
+  physics_step: mean=23.0ms, total=6.90s, count=300, min=16.5ms, max=110.6ms
+  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3989.2ms, max=3989.2ms
+  task_sampling: mean=412.1ms, total=412.1ms, count=1, min=412.1ms, max=412.1ms
+  task_specific_sample: mean=408.3ms, total=408.3ms, count=1, min=408.3ms, max=408.3ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=375.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.3us, 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 08:50:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:50:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:50:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:50:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:50:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:50:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:50:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:50:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:50:07 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 08:50:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:50:07 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 08:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012123m	[env.py: 870]
+05/10 08:50:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:50:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74315398  0.42841692  0.01212339] yaw=167.1deg	[env.py: 1019]
+05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75842361  0.25616136  0.01212339] yaw=168.8deg	[env.py: 1019]
+05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.6762617   0.7468238   0.01212339] yaw=-158.0deg	[env.py: 1019]
+05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:50:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.0ms, total=167.0ms	[env.py: 1075]
+05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.428, 0.012)	[env.py: 1079]
+05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.1 deg	[env.py: 1082]
+05/10 08:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m	[env.py: 1086]
+05/10 08:50:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:50:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:50:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:50:08 INFO: [Worker 0] Worker 0 house 1 episode 126/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:50:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:50:08 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 08:50:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:50:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:50:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.503s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:50:09 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.510[m] 89.487[deg]	[grasp_sample.py: 539]
+05/10 08:50:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:50:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:50:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:50:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:50:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:50:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:50:56 INFO: [Worker 0] Worker 0 house 1 episode 130 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:51:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:51:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:51:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:51:18 INFO: [Worker 0] Saved videos eagerly for episode 85 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:51:18 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 08:51:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:51:30 INFO: [Worker 0] Worker 0 house 1 episode 128 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:51:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:51:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:51:32 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.57s (batch: 4.12s, save: 9.45s)	[pipeline.py: 300]
+05/10 08:51:33 INFO: [Worker 0] [PROFILE] Episode 130 house 1 success=True episode_total=0.48s:
+  episode_total: mean=196.83s, total=196.83s, count=1, min=196828.5ms, max=196828.5ms
+  sensor_polling: mean=479.6ms, total=143.87s, count=300, min=405.9ms, max=1061.5ms
+  save_trajectories: mean=9.45s, total=9.45s, count=1, min=9452.3ms, max=9452.3ms
+  physics_step: mean=22.1ms, total=6.63s, count=300, min=13.5ms, max=43.4ms
+  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4121.5ms, max=4121.5ms
+  task_sampling: mean=483.8ms, total=483.8ms, count=1, min=483.8ms, max=483.8ms
+  task_specific_sample: mean=479.2ms, total=479.2ms, count=1, min=479.2ms, max=479.2ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=559.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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 08:51:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:51:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:51:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:51:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:51:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:51:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:51:34 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 08:51:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:51:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048447m	[env.py: 870]
+05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:51:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00361124  0.77128109  0.04844682] yaw=-147.2deg	[env.py: 1019]
+05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:51:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=176.0ms, total=176.1ms	[env.py: 1075]
+05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.004, 0.771, 0.048)	[env.py: 1079]
+05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.2 deg	[env.py: 1082]
+05/10 08:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
+05/10 08:51:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:51:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:51:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:51:35 INFO: [Worker 0] Worker 0 house 1 episode 131/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:51:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:51:35 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 08:51:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:51:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:51:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.522s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:51:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.310[m] 80.727[deg]	[grasp_sample.py: 539]
+05/10 08:51:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:51:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:51:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:51:50 INFO: [Worker 0] Saved videos eagerly for episode 94 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:51:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 08:51:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:51:51 INFO: [Worker 0] Worker 0 house 1 episode 124 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:52:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:52:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:52:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:52:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.91s (batch: 4.28s, save: 8.63s)	[pipeline.py: 300]
+05/10 08:52:04 INFO: [Worker 0] [PROFILE] Episode 128 house 1 success=True episode_total=0.46s:
+  episode_total: mean=188.84s, total=188.84s, count=1, min=188842.1ms, max=188842.1ms
+  sensor_polling: mean=472.1ms, total=141.64s, count=300, min=405.4ms, max=819.9ms
+  save_trajectories: mean=8.63s, total=8.63s, count=1, min=8631.0ms, max=8631.0ms
+  physics_step: mean=22.6ms, total=6.79s, count=300, min=16.8ms, max=61.1ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4281.4ms, max=4281.4ms
+  task_sampling: mean=457.9ms, total=457.9ms, count=1, min=457.9ms, max=457.9ms
+  task_specific_sample: mean=453.8ms, total=453.8ms, count=1, min=453.8ms, max=453.8ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=458.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:52:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:52:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:52:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:52:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:52:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:52:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:52:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:52:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:52:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:52:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:52:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039673m	[env.py: 870]
+05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:52:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92102937  0.26615271  0.03967294] yaw=169.6deg	[env.py: 1019]
+05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09439448  0.8849742   0.03967294] yaw=-156.7deg	[env.py: 1019]
+05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92649586  0.90121476  0.03967294] yaw=-150.0deg	[env.py: 1019]
+05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:52:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=277.0ms, total=277.1ms	[env.py: 1075]
+05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.921, 0.266, 0.040)	[env.py: 1079]
+05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.6 deg	[env.py: 1082]
+05/10 08:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
+05/10 08:52:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:52:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:52:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:52:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:52:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:52:06 INFO: [Worker 0] Worker 0 house 1 episode 129/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:52:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:52:06 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 08:52:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:52:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:52:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.657s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:52:07 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.391[m] 92.809[deg]	[grasp_sample.py: 539]
+05/10 08:52:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:52:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:52:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:52:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:52:15 INFO: [Worker 0] Saved videos eagerly for episode 90 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:52:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 08:52:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:52:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:52:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:52:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:52:28 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.26s (batch: 4.21s, save: 9.04s)	[pipeline.py: 300]
+05/10 08:52:29 INFO: [Worker 0] [PROFILE] Episode 124 house 1 success=True episode_total=0.70s:
+  episode_total: mean=163.91s, total=327.83s, count=2, min=133729.0ms, max=194098.5ms
+  sensor_polling: mean=474.8ms, total=253.56s, count=534, min=402.1ms, max=907.5ms
+  physics_step: mean=22.7ms, total=12.12s, count=534, min=13.5ms, max=78.3ms
+  save_trajectories: mean=9.04s, total=9.04s, count=1, min=9044.4ms, max=9044.4ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4213.6ms, max=4213.6ms
+  task_sampling: mean=350.2ms, total=700.3ms, count=2, min=320.1ms, max=380.3ms
+  task_specific_sample: mean=346.9ms, total=693.7ms, count=2, min=316.7ms, max=377.0ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.8ms, max=2.2ms
+  mj_forward_sync: mean=368.3us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:52:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:52:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:52:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:52:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:52:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:52:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:52:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:52:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:52:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:52:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:52:31 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 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043110m	[env.py: 870]
+05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:52:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75957587  0.67177852 -0.04311049] yaw=-163.0deg	[env.py: 1019]
+05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00416106  1.15717966 -0.04311049] yaw=-145.5deg	[env.py: 1019]
+05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.870414    1.01575689 -0.04311049] yaw=-149.0deg	[env.py: 1019]
+05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:52:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.6ms, total=115.7ms	[env.py: 1075]
+05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.760, 0.672, -0.043)	[env.py: 1079]
+05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.0 deg	[env.py: 1082]
+05/10 08:52:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m	[env.py: 1086]
+05/10 08:52:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:52:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:52:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:52:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:52:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:52:31 INFO: [Worker 0] Worker 0 house 1 episode 125/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:52:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:52:31 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 08:52:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:52:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:52:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.775s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:52:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.553[m] 90.354[deg]	[grasp_sample.py: 539]
+05/10 08:52:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:52:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:52:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:52:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:52:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:52:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:52:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:52:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:52:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:52:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:52:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:52:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:52:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:52:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:52:47 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 08:52:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:52:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:52:47 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.556s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:52:47 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.121[deg]	[grasp_sample.py: 539]
+05/10 08:52:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:52:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:52:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:52:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:52:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:53:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:53:05 INFO: [Worker 0] Worker 0 house 1 episode 126 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:53:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:53:29 INFO: [Worker 0] Saved videos eagerly for episode 92 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:53:29 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 08:53:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:53:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:53:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:53:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:53:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:53:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:53:42 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.12s (batch: 4.04s, save: 9.08s)	[pipeline.py: 300]
+05/10 08:53:43 INFO: [Worker 0] [PROFILE] Episode 126 house 1 success=True episode_total=0.46s:
+  episode_total: mean=215.24s, total=215.24s, count=1, min=215243.8ms, max=215243.8ms
+  sensor_polling: mean=473.5ms, total=142.04s, count=300, min=407.2ms, max=771.7ms
+  save_trajectories: mean=9.08s, total=9.08s, count=1, min=9077.2ms, max=9077.2ms
+  physics_step: mean=21.5ms, total=6.45s, count=300, min=14.0ms, max=42.7ms
+  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4040.9ms, max=4040.9ms
+  task_sampling: mean=459.7ms, total=459.7ms, count=1, min=459.7ms, max=459.7ms
+  task_specific_sample: mean=456.2ms, total=456.2ms, count=1, min=456.2ms, max=456.2ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=389.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.4us, 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 08:53:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:53:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:53:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:53:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:53:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:53:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:53:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:53:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:53:44 INFO: [Worker 0] [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 08:53:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:53:44 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 08:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005828m	[env.py: 870]
+05/10 08:53:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:53:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93698089  0.8845856   0.00582807] yaw=-163.5deg	[env.py: 1019]
+05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.143325    1.18577351  0.00582807] yaw=-130.6deg	[env.py: 1019]
+05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.65973661  0.71882701  0.00582807] yaw=-172.6deg	[env.py: 1019]
+05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:53:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=331.5ms, total=331.5ms	[env.py: 1075]
+05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.937, 0.885, 0.006)	[env.py: 1079]
+05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.5 deg	[env.py: 1082]
+05/10 08:53:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
+05/10 08:53:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:53:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:53:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:53:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:53:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:53:45 INFO: [Worker 0] Worker 0 house 1 episode 127/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:53:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:53:45 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 08:53:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:53:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:53:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:53:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.534s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:53:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.452[m] 92.172[deg]	[grasp_sample.py: 539]
+05/10 08:53:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:53:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:53:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:53:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:53:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:53:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:53:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:53:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:53:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:53:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:53:57 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 08:53:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:53:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:53:58 INFO: [Worker 0] Worker 0 house 1 episode 131 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:53:58 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.922s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:53:58 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.130[deg]	[grasp_sample.py: 539]
+05/10 08:54:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:54:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:54:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:54:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:54:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:54:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:54:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:54:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:54:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:54:19 INFO: [Worker 0] Saved videos eagerly for episode 86 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:54:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 08:54:19 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
+05/10 08:54:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:54:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:54:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:54:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:54:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:54:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.82s (batch: 4.28s, save: 10.54s)	[pipeline.py: 300]
+05/10 08:54:35 INFO: [Worker 0] [PROFILE] Episode 131 house 1 success=True episode_total=0.43s:
+  episode_total: mean=180.66s, total=180.66s, count=1, min=180658.6ms, max=180658.6ms
+  sensor_polling: mean=470.5ms, total=133.14s, count=283, min=393.6ms, max=819.7ms
+  save_trajectories: mean=10.54s, total=10.54s, count=1, min=10541.4ms, max=10541.4ms
+  physics_step: mean=21.8ms, total=6.17s, count=283, min=16.6ms, max=72.8ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4276.9ms, max=4276.9ms
+  task_sampling: mean=431.4ms, total=431.4ms, count=1, min=431.4ms, max=431.4ms
+  task_specific_sample: mean=428.3ms, total=428.3ms, count=1, min=428.3ms, max=428.3ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=379.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.7us, 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 08:54:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:54:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:54:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:54:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:54:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:54:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:54:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:54:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:54:37 INFO: [Worker 0] [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 08:54:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:54:37 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 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006584m	[env.py: 870]
+05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:54:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 126.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.66428152  0.1325123   0.00658373] yaw=162.2deg	[env.py: 1019]
+05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.68010753  0.85527792  0.00658373] yaw=-150.9deg	[env.py: 1019]
+05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89707557  0.84613891  0.00658373] yaw=-151.5deg	[env.py: 1019]
+05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:54:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=431.8ms, total=431.8ms	[env.py: 1075]
+05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.664, 0.133, 0.007)	[env.py: 1079]
+05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.2 deg	[env.py: 1082]
+05/10 08:54:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m	[env.py: 1086]
+05/10 08:54:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:54:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:54:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:54:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:54:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:54:37 INFO: [Worker 0] Worker 0 house 1 episode 132/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:54:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.207s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:54:37 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 08:54:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:54:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:54:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.902s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:54:40 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.665[m] 92.993[deg]	[grasp_sample.py: 539]
+05/10 08:54:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:54:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:54:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:54:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:54:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:54:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:54:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:54:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:54:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:54:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:54:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:54:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:54:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:54:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:54:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:54:53 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 08:54:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:54:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:54:55 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.459s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:54:55 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.851[deg]	[grasp_sample.py: 539]
+05/10 08:54:56 ERROR: [Worker 0] Worker 0 house 1 episode 129 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 08:54:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:54:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:54:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:54:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:54:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:54:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:54:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:54:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:54:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:54:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:54:57 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 08:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039383m	[env.py: 870]
+05/10 08:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:54:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:54:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95796399  0.97678138  0.03938314] yaw=-135.0deg	[env.py: 1019]
+05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05670138  1.10530948  0.03938314] yaw=-126.0deg	[env.py: 1019]
+05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.11970564  0.95497469  0.03938314] yaw=-136.5deg	[env.py: 1019]
+05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:54:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=296.8ms, total=296.8ms	[env.py: 1075]
+05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.958, 0.977, 0.039)	[env.py: 1079]
+05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.0 deg	[env.py: 1082]
+05/10 08:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m	[env.py: 1086]
+05/10 08:54:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:54:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:54:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:54:58 INFO: [Worker 0] Worker 0 house 1 episode 130/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:54:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:54:58 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 08:54:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:54:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:54:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.909s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:54:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.454[m] 87.753[deg]	[grasp_sample.py: 539]
+05/10 08:54:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:54:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:54:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:55:06 INFO: [Worker 0] Worker 0 house 1 episode 125 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:55:30 INFO: [Worker 0] Saved videos eagerly for episode 91 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:55:30 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 08:55:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:55:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:55:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:55:43 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.92s (batch: 4.50s, save: 8.43s)	[pipeline.py: 300]
+05/10 08:55:44 INFO: [Worker 0] [PROFILE] Episode 125 house 1 success=True episode_total=0.44s:
+  episode_total: mean=193.12s, total=193.12s, count=1, min=193117.4ms, max=193117.4ms
+  sensor_polling: mean=477.5ms, total=143.25s, count=300, min=387.9ms, max=899.9ms
+  save_trajectories: mean=8.43s, total=8.43s, count=1, min=8428.7ms, max=8428.7ms
+  physics_step: mean=22.4ms, total=6.72s, count=300, min=16.4ms, max=107.3ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4496.2ms, max=4496.2ms
+  task_sampling: mean=436.4ms, total=436.4ms, count=1, min=436.4ms, max=436.4ms
+  task_specific_sample: mean=432.1ms, total=432.1ms, count=1, min=432.1ms, max=432.1ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=505.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:55:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:55:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:55:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:55:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:55:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:55:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:55:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:55:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:55:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:55:45 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 08:55:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:55:45 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 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028775m	[env.py: 870]
+05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:55:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90651651  0.32437446 -0.02877522] yaw=161.1deg	[env.py: 1019]
+05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99792551  0.17382169 -0.02877522] yaw=151.9deg	[env.py: 1019]
+05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84079486  0.30987408 -0.02877522] yaw=175.8deg	[env.py: 1019]
+05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:55:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=72.8ms, total=72.8ms	[env.py: 1075]
+05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.907, 0.324, -0.029)	[env.py: 1079]
+05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.1 deg	[env.py: 1082]
+05/10 08:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
+05/10 08:55:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:55:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:55:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:55:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:55:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:55:45 INFO: [Worker 0] Worker 0 house 1 episode 126/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:55:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:55:46 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 08:55:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:55:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:55:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.529s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:55:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.390[m] 94.140[deg]	[grasp_sample.py: 539]
+05/10 08:55:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:55:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:55:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:55:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:55:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:55:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:55:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:56:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:56:17 INFO: [Worker 0] Worker 0 house 1 episode 127 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:56:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:56:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:56:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:56:41 INFO: [Worker 0] Saved videos eagerly for episode 93 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:56:41 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 08:56:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:56:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:56:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:56:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:56:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:56:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:56:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.90s (batch: 4.16s, save: 8.74s)	[pipeline.py: 300]
+05/10 08:56:55 INFO: [Worker 0] [PROFILE] Episode 127 house 1 success=True episode_total=0.62s:
+  episode_total: mean=190.15s, total=190.15s, count=1, min=190147.6ms, max=190147.6ms
+  sensor_polling: mean=471.9ms, total=141.58s, count=300, min=393.3ms, max=871.9ms
+  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8736.0ms, max=8736.0ms
+  physics_step: mean=21.7ms, total=6.51s, count=300, min=15.6ms, max=64.5ms
+  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4161.8ms, max=4161.8ms
+  task_sampling: mean=623.1ms, total=623.1ms, count=1, min=623.1ms, max=623.1ms
+  task_specific_sample: mean=619.2ms, total=619.2ms, count=1, min=619.2ms, max=619.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=477.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:56:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:56:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:56:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:56:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:56:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:56:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:56:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:56:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:56:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:56:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033526m	[env.py: 870]
+05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:56:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0705149   1.18570399  0.03352597] yaw=-141.8deg	[env.py: 1019]
+05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88110311  0.7584809   0.03352597] yaw=-164.0deg	[env.py: 1019]
+05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08100523  1.17750002  0.03352597] yaw=-121.5deg	[env.py: 1019]
+05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:56:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.4ms, total=124.4ms	[env.py: 1075]
+05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.071, 1.186, 0.034)	[env.py: 1079]
+05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.8 deg	[env.py: 1082]
+05/10 08:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
+05/10 08:56:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:56:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:56:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:56:57 INFO: [Worker 0] Worker 0 house 1 episode 128/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:56:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.172s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:56:57 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 08:56:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:56:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:56:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:57:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:57:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.584s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:57:03 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.558[m] 89.353[deg]	[grasp_sample.py: 539]
+05/10 08:57:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:57:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:57:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:57:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:57:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:57:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:57:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:57:06 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 08:57:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:57:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 72 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:57:06 INFO: [Worker 0] Feasibility-checked 72 grasps in 0.462s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:57:06 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.023[m] 2.226[deg]	[grasp_sample.py: 539]
+05/10 08:57:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:57:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:57:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:57:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:57:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:57:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:57:26 INFO: [Worker 0] Worker 0 house 1 episode 132 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 08:57:26 INFO: [Worker 0] [PROFILE] Episode 132 house 1 success=False episode_total=0.73s:
+  episode_total: mean=169.26s, total=169.26s, count=1, min=169262.5ms, max=169262.5ms
+  sensor_polling: mean=472.1ms, total=141.62s, count=300, min=406.3ms, max=793.7ms
+  physics_step: mean=21.0ms, total=6.29s, count=300, min=13.1ms, max=49.0ms
+  task_sampling: mean=729.6ms, total=729.6ms, count=1, min=729.6ms, max=729.6ms
+  task_specific_sample: mean=725.7ms, total=725.7ms, count=1, min=725.7ms, max=725.7ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=540.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 08:57:27 INFO: [Worker 0] Worker 0 house 1 episode 130 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:57:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:57:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:57:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:57:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:57:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:57:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:57:28 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 08:57:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:57:28 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 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008702m	[env.py: 870]
+05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:57:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71937208  0.73251729 -0.00870156] yaw=-163.7deg	[env.py: 1019]
+05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79687085  0.67638663 -0.00870156] yaw=-157.7deg	[env.py: 1019]
+05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96522378  0.74506292 -0.00870156] yaw=-162.3deg	[env.py: 1019]
+05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:57:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=254.2ms, total=254.2ms	[env.py: 1075]
+05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.719, 0.733, -0.009)	[env.py: 1079]
+05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.7 deg	[env.py: 1082]
+05/10 08:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
+05/10 08:57:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:57:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:57:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:57:28 INFO: [Worker 0] Worker 0 house 1 episode 133/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:57:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:57:28 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 08:57:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:57:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:57:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.284s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:57:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.552[m] 84.300[deg]	[grasp_sample.py: 539]
+05/10 08:57:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:57:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:57:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:57:53 INFO: [Worker 0] Saved videos eagerly for episode 95 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:57:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 08:57:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:57:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:58:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:58:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:58:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:58:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.71s (batch: 4.05s, save: 11.66s)	[pipeline.py: 300]
+05/10 08:58:10 INFO: [Worker 0] [PROFILE] Episode 130 house 1 success=True episode_total=1.12s:
+  episode_total: mean=181.54s, total=363.09s, count=2, min=170471.3ms, max=192614.2ms
+  sensor_polling: mean=472.0ms, total=259.14s, count=549, min=387.9ms, max=871.4ms
+  physics_step: mean=21.9ms, total=12.05s, count=549, min=12.9ms, max=96.6ms
+  save_trajectories: mean=11.66s, total=11.66s, count=1, min=11662.5ms, max=11662.5ms
+  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4050.4ms, max=4050.4ms
+  task_sampling: mean=559.8ms, total=1.12s, count=2, min=525.1ms, max=594.4ms
+  task_specific_sample: mean=556.1ms, total=1.11s, count=2, min=522.1ms, max=590.1ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.4ms, max=2.9ms
+  mj_forward_sync: mean=468.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.3us, 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 08:58:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:58:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:58:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:58:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:58:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:58:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:58:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:58:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:58:12 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 08:58:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:58:12 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 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023828m	[env.py: 870]
+05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:58:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79188784  0.10036035 -0.02382793] yaw=157.2deg	[env.py: 1019]
+05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 127.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:58:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=404.9ms, total=404.9ms	[env.py: 1075]
+05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.792, 0.100, -0.024)	[env.py: 1079]
+05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.2 deg	[env.py: 1082]
+05/10 08:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m	[env.py: 1086]
+05/10 08:58:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:58:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:58:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:58:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:58:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:58:13 INFO: [Worker 0] Worker 0 house 1 episode 131/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:58:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:58:13 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 08:58:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:58:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:58:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:58:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.407s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:58:15 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.563[m] 97.464[deg]	[grasp_sample.py: 539]
+05/10 08:58:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:58:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:58:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:58:21 INFO: [Worker 0] Worker 0 house 1 episode 126 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:58:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:58:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:58:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:58:46 INFO: [Worker 0] Saved videos eagerly for episode 92 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 08:58:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 08:58:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 08:58:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:58:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 08:58:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 08:58:58 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.09s (batch: 3.90s, save: 8.20s)	[pipeline.py: 300]
+05/10 08:58:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:58:59 INFO: [Worker 0] [PROFILE] Episode 126 house 1 success=True episode_total=0.33s:
+  episode_total: mean=194.20s, total=194.20s, count=1, min=194200.0ms, max=194200.0ms
+  sensor_polling: mean=479.5ms, total=143.84s, count=300, min=407.1ms, max=794.4ms
+  save_trajectories: mean=8.20s, total=8.20s, count=1, min=8195.8ms, max=8195.8ms
+  physics_step: mean=23.8ms, total=7.14s, count=300, min=13.8ms, max=76.1ms
+  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3897.3ms, max=3897.3ms
+  task_sampling: mean=331.4ms, total=331.4ms, count=1, min=331.4ms, max=331.4ms
+  task_specific_sample: mean=328.3ms, total=328.3ms, count=1, min=328.3ms, max=328.3ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=374.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.2us, 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 08:59:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:59:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 08:59:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 08:59:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 08:59:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:59:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:59:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:59:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:59:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 08:59:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 08:59:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 08:59:01 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 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009093m	[env.py: 870]
+05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 08:59:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79515076  0.35246022 -0.00909308] yaw=168.9deg	[env.py: 1019]
+05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90748638  0.15956159 -0.00909308] yaw=167.7deg	[env.py: 1019]
+05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70407588  0.71273212 -0.00909308] yaw=-171.3deg	[env.py: 1019]
+05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 08:59:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.6ms, total=120.6ms	[env.py: 1075]
+05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.795, 0.352, -0.009)	[env.py: 1079]
+05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.9 deg	[env.py: 1082]
+05/10 08:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/10 08:59:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 08:59:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 08:59:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 08:59:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 08:59:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 08:59:02 INFO: [Worker 0] Worker 0 house 1 episode 127/240 collected=0/40	[pipeline.py: 1044]
+05/10 08:59:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s	[base_object_manipulation_planner_policy.py: 377]
+05/10 08:59:02 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 08:59:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:59:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.206s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:59:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.578s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:59:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.457[m] 89.092[deg]	[grasp_sample.py: 539]
+05/10 08:59:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:59:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:59:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:59:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:59:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:59:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:59:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:59:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:59:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 08:59:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 08:59:10 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 08:59:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 08:59:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 08:59:11 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.472s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 08:59:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.558[deg]	[grasp_sample.py: 539]
+05/10 08:59:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 08:59:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 08:59:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:59:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:59:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:59:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:59:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:59:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 08:59:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:59:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:59:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:59:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 08:59:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:59:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:59:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:59:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 08:59:55 INFO: [Worker 0] Worker 0 house 1 episode 128 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 08:59:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:00:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:00:03 INFO: [Worker 0] Worker 0 house 1 episode 133 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:00:20 INFO: [Worker 0] Saved videos eagerly for episode 94 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:00:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 09:00:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:00:25 INFO: [Worker 0] Saved videos eagerly for episode 87 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:00:25 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 09:00:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:00:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:00:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:00:32 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.81s (batch: 4.03s, save: 7.79s)	[pipeline.py: 300]
+05/10 09:00:33 INFO: [Worker 0] [PROFILE] Episode 128 house 1 success=True episode_total=0.48s:
+  episode_total: mean=215.85s, total=215.85s, count=1, min=215847.5ms, max=215847.5ms
+  sensor_polling: mean=471.2ms, total=141.37s, count=300, min=404.8ms, max=812.5ms
+  save_trajectories: mean=7.79s, total=7.79s, count=1, min=7788.0ms, max=7788.0ms
+  physics_step: mean=21.8ms, total=6.53s, count=300, min=13.8ms, max=53.3ms
+  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4025.4ms, max=4025.4ms
+  task_sampling: mean=483.3ms, total=483.3ms, count=1, min=483.3ms, max=483.3ms
+  task_specific_sample: mean=479.0ms, total=479.0ms, count=1, min=479.0ms, max=479.0ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=489.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.5us, 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 09:00:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:00:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:00:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:00:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:00:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:00:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:00:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:00:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:00:34 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 09:00:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:00:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.016754m	[env.py: 870]
+05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:00:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81144132  0.40413814 -0.01675442] yaw=171.0deg	[env.py: 1019]
+05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72468813  0.85308286 -0.01675442] yaw=-156.4deg	[env.py: 1019]
+05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97499574  0.14260108 -0.01675442] yaw=158.2deg	[env.py: 1019]
+05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:00:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.6ms, total=148.6ms	[env.py: 1075]
+05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.811, 0.404, -0.017)	[env.py: 1079]
+05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.0 deg	[env.py: 1082]
+05/10 09:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m	[env.py: 1086]
+05/10 09:00:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:00:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:00:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:00:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:00:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:00:35 INFO: [Worker 0] Worker 0 house 1 episode 129/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:00:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:00:35 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 09:00:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:00:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:00:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.466s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:00:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.451[m] 90.209[deg]	[grasp_sample.py: 539]
+05/10 09:00:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:00:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:00:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:00:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:00:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:00:38 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.27s (batch: 3.77s, save: 8.50s)	[pipeline.py: 300]
+05/10 09:00:39 INFO: [Worker 0] [PROFILE] Episode 133 house 1 success=True episode_total=0.51s:
+  episode_total: mean=190.95s, total=190.95s, count=1, min=190950.6ms, max=190950.6ms
+  sensor_polling: mean=470.1ms, total=141.04s, count=300, min=399.9ms, max=835.1ms
+  save_trajectories: mean=8.50s, total=8.50s, count=1, min=8500.7ms, max=8500.7ms
+  physics_step: mean=22.0ms, total=6.61s, count=300, min=16.6ms, max=45.8ms
+  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3765.6ms, max=3765.6ms
+  task_sampling: mean=506.7ms, total=506.7ms, count=1, min=506.7ms, max=506.7ms
+  task_specific_sample: mean=503.0ms, total=503.0ms, count=1, min=503.0ms, max=503.0ms
+  scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms
+  mj_forward_sync: mean=464.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.0us, 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 09:00:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:00:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:00:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:00:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:00:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:00:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:00:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 09:00:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:00:40 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 09:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015798m	[env.py: 870]
+05/10 09:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:00:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8485024   0.65485425  0.015798  ] yaw=-159.1deg	[env.py: 1019]
+05/10 09:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64775215  0.49445487  0.015798  ] yaw=-175.1deg	[env.py: 1019]
+05/10 09:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99647934  0.96034606  0.015798  ] yaw=-146.1deg	[env.py: 1019]
+05/10 09:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:00:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=228.9ms, total=228.9ms	[env.py: 1075]
+05/10 09:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.849, 0.655, 0.016)	[env.py: 1079]
+05/10 09:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.1 deg	[env.py: 1082]
+05/10 09:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
+05/10 09:00:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:00:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:00:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:00:41 INFO: [Worker 0] Worker 0 house 1 episode 134/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:00:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:00:41 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 09:00:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:00:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:00:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.469s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:00:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.441[m] 85.206[deg]	[grasp_sample.py: 539]
+05/10 09:00:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:00:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:00:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:00:47 INFO: [Worker 0] Worker 0 house 1 episode 131 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:01:12 INFO: [Worker 0] Saved videos eagerly for episode 96 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:01:12 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 09:01:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:01:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:01:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:01:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:01:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:01:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.12s (batch: 4.63s, save: 10.49s)	[pipeline.py: 300]
+05/10 09:01:28 INFO: [Worker 0] [PROFILE] Episode 131 house 1 success=True episode_total=0.68s:
+  episode_total: mean=195.60s, total=195.60s, count=1, min=195604.1ms, max=195604.1ms
+  sensor_polling: mean=471.6ms, total=141.47s, count=300, min=382.0ms, max=876.0ms
+  save_trajectories: mean=10.49s, total=10.49s, count=1, min=10493.1ms, max=10493.1ms
+  physics_step: mean=22.9ms, total=6.88s, count=300, min=14.2ms, max=47.8ms
+  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4627.7ms, max=4627.7ms
+  task_sampling: mean=675.4ms, total=675.4ms, count=1, min=675.4ms, max=675.4ms
+  task_specific_sample: mean=671.5ms, total=671.5ms, count=1, min=671.5ms, max=671.5ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=456.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 09:01:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:01:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:01:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:01:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:01:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:01:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:01:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:01:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:01:29 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 09:01:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:01:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035636m	[env.py: 870]
+05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:01:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75203411  0.31935683  0.03563552] yaw=160.1deg	[env.py: 1019]
+05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70514587  0.31352012  0.03563552] yaw=171.7deg	[env.py: 1019]
+05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97236534  1.10606046  0.03563552] yaw=-140.4deg	[env.py: 1019]
+05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:01:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=69.1ms, total=69.2ms	[env.py: 1075]
+05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.752, 0.319, 0.036)	[env.py: 1079]
+05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.1 deg	[env.py: 1082]
+05/10 09:01:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
+05/10 09:01:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:01:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:01:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:01:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:01:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:01:30 INFO: [Worker 0] Worker 0 house 1 episode 132/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:01:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:01:30 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 09:01:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:01:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:01:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.567s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:01:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.523[m] 87.180[deg]	[grasp_sample.py: 539]
+05/10 09:01:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:01:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:01:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:01:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:01:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:01:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:01:39 INFO: [Worker 0] Worker 0 house 1 episode 127 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:01:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:02:03 INFO: [Worker 0] Saved videos eagerly for episode 93 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:02:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 09:02:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:02:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:02:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:02:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.31s (batch: 3.83s, save: 7.48s)	[pipeline.py: 300]
+05/10 09:02:15 INFO: [Worker 0] [PROFILE] Episode 127 house 1 success=True episode_total=0.40s:
+  episode_total: mean=193.40s, total=193.40s, count=1, min=193402.2ms, max=193402.2ms
+  sensor_polling: mean=473.7ms, total=142.12s, count=300, min=388.3ms, max=976.7ms
+  save_trajectories: mean=7.48s, total=7.48s, count=1, min=7481.0ms, max=7481.0ms
+  physics_step: mean=23.1ms, total=6.92s, count=300, min=16.5ms, max=84.0ms
+  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3828.3ms, max=3828.3ms
+  task_sampling: mean=398.3ms, total=398.3ms, count=1, min=398.3ms, max=398.3ms
+  task_specific_sample: mean=393.8ms, total=393.8ms, count=1, min=393.8ms, max=393.8ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=548.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.3us, 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 09:02:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:02:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:02:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:02:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:02:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:02:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:02:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:02:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:02:16 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 09:02:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:02:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045114m	[env.py: 870]
+05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:02:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68479395  0.33297847 -0.04511374] yaw=170.7deg	[env.py: 1019]
+05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13322217  0.89920085 -0.04511374] yaw=-155.1deg	[env.py: 1019]
+05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92424657  0.96518468 -0.04511374] yaw=-151.1deg	[env.py: 1019]
+05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:02:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.6ms, total=132.6ms	[env.py: 1075]
+05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.685, 0.333, -0.045)	[env.py: 1079]
+05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.7 deg	[env.py: 1082]
+05/10 09:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m	[env.py: 1086]
+05/10 09:02:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:02:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:02:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:02:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:02:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:02:17 INFO: [Worker 0] Worker 0 house 1 episode 128/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:02:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:02:17 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 09:02:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:02:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:02:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.482s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:02:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.633[m] 102.142[deg]	[grasp_sample.py: 539]
+05/10 09:02:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:02:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:02:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:02:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:02:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:02:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:03:06 INFO: [Worker 0] Worker 0 house 1 episode 129 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:03:12 INFO: [Worker 0] Worker 0 house 1 episode 134 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:03:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:03:32 INFO: [Worker 0] Saved videos eagerly for episode 95 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:03:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 09:03:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:03:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:03:38 INFO: [Worker 0] Saved videos eagerly for episode 88 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:03:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 09:03:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:03:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:03:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:03:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:03:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.35s (batch: 4.25s, save: 11.10s)	[pipeline.py: 300]
+05/10 09:03:48 INFO: [Worker 0] [PROFILE] Episode 129 house 1 success=True episode_total=0.40s:
+  episode_total: mean=193.81s, total=193.81s, count=1, min=193811.4ms, max=193811.4ms
+  sensor_polling: mean=470.3ms, total=141.09s, count=300, min=403.0ms, max=1000.7ms
+  save_trajectories: mean=11.10s, total=11.10s, count=1, min=11103.9ms, max=11103.9ms
+  physics_step: mean=23.0ms, total=6.90s, count=300, min=15.7ms, max=52.0ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4248.9ms, max=4248.9ms
+  task_sampling: mean=398.1ms, total=398.1ms, count=1, min=398.1ms, max=398.1ms
+  task_specific_sample: mean=394.5ms, total=394.5ms, count=1, min=394.5ms, max=394.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=392.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.9us, 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 09:03:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:03:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:03:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:03:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:03:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:03:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:03:50 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 09:03:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:03:50 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 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023025m	[env.py: 870]
+05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:03:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06835638  0.94279654  0.0230253 ] yaw=-144.6deg	[env.py: 1019]
+05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96101686  0.31459322  0.0230253 ] yaw=167.5deg	[env.py: 1019]
+05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81080618  0.10301021  0.0230253 ] yaw=152.4deg	[env.py: 1019]
+05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:03:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.1ms, total=123.1ms	[env.py: 1075]
+05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.068, 0.943, 0.023)	[env.py: 1079]
+05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.6 deg	[env.py: 1082]
+05/10 09:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.784m	[env.py: 1086]
+05/10 09:03:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:03:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:03:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:03:50 INFO: [Worker 0] Worker 0 house 1 episode 130/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:03:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:03:50 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 09:03:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:03:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:03:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.676s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:03:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.375[m] 91.353[deg]	[grasp_sample.py: 539]
+05/10 09:03:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:03:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:03:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:03:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:03:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:03:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.34s (batch: 4.53s, save: 10.81s)	[pipeline.py: 300]
+05/10 09:03:54 INFO: [Worker 0] [PROFILE] Episode 134 house 1 success=True episode_total=0.50s:
+  episode_total: mean=193.26s, total=193.26s, count=1, min=193258.0ms, max=193258.0ms
+  sensor_polling: mean=464.9ms, total=139.46s, count=300, min=397.0ms, max=882.9ms
+  save_trajectories: mean=10.81s, total=10.81s, count=1, min=10805.3ms, max=10805.3ms
+  physics_step: mean=21.0ms, total=6.31s, count=300, min=16.6ms, max=48.7ms
+  save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4530.3ms, max=4530.3ms
+  task_sampling: mean=499.0ms, total=499.0ms, count=1, min=499.0ms, max=499.0ms
+  task_specific_sample: mean=494.7ms, total=494.7ms, count=1, min=494.7ms, max=494.7ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=531.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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 09:03:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:03:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:03:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:03:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:03:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:03:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:03:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:03:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:03:55 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 09:03:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:03:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041383m	[env.py: 870]
+05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:03:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0073196   1.30082296  0.0413827 ] yaw=-141.0deg	[env.py: 1019]
+05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75626458  0.20493627  0.0413827 ] yaw=156.0deg	[env.py: 1019]
+05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 99.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98246845  0.44313282  0.0413827 ] yaw=181.9deg	[env.py: 1019]
+05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:03:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.2ms, total=157.2ms	[env.py: 1075]
+05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.007, 1.301, 0.041)	[env.py: 1079]
+05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.0 deg	[env.py: 1082]
+05/10 09:03:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
+05/10 09:03:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:03:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:03:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:03:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:03:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:03:56 INFO: [Worker 0] Worker 0 house 1 episode 135/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:03:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:03:56 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 09:03:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:03:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:03:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.458s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 09:03:57 ERROR: [Worker 0] Worker 0 house 1 episode 135 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 09:03:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:03:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:03:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:03:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:03:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:03:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:03:59 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 09:03:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:03:59 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 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045556m	[env.py: 870]
+05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:03:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92613696  0.85722551 -0.04555625] yaw=-146.7deg	[env.py: 1019]
+05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.15274555  1.0976512  -0.04555625] yaw=-136.9deg	[env.py: 1019]
+05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92296196  0.97050642 -0.04555625] yaw=-146.5deg	[env.py: 1019]
+05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:03:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.6ms, total=131.6ms	[env.py: 1075]
+05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.857, -0.046)	[env.py: 1079]
+05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.7 deg	[env.py: 1082]
+05/10 09:03:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m	[env.py: 1086]
+05/10 09:03:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:03:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:03:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:03:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:03:59 INFO: [Worker 0] Worker 0 house 1 episode 136/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:03:59 INFO: [Worker 0] Worker 0 house 1 episode 132 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:03:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:03:59 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 09:03:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:03:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:04:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.485s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:04:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.462[m] 92.242[deg]	[grasp_sample.py: 539]
+05/10 09:04:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:04:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:04:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:04:26 INFO: [Worker 0] Saved videos eagerly for episode 97 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:04:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 09:04:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:04:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:04:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:04:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:04:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:04:40 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.41s (batch: 4.78s, save: 9.64s)	[pipeline.py: 300]
+05/10 09:04:41 INFO: [Worker 0] [PROFILE] Episode 132 house 1 success=True episode_total=0.36s:
+  episode_total: mean=191.46s, total=191.46s, count=1, min=191462.6ms, max=191462.6ms
+  sensor_polling: mean=461.7ms, total=138.52s, count=300, min=395.3ms, max=817.7ms
+  save_trajectories: mean=9.64s, total=9.64s, count=1, min=9635.2ms, max=9635.2ms
+  physics_step: mean=23.3ms, total=6.99s, count=300, min=13.8ms, max=52.2ms
+  save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4777.4ms, max=4777.4ms
+  task_sampling: mean=355.4ms, total=355.4ms, count=1, min=355.4ms, max=355.4ms
+  task_specific_sample: mean=351.0ms, total=351.0ms, count=1, min=351.0ms, max=351.0ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=529.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 09:04:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:04:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:04:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:04:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:04:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:04:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:04:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:04:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:04:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:04:42 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 09:04:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:04:42 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 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035482m	[env.py: 870]
+05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:04:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 134.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84129601  0.30252382 -0.03548195] yaw=174.5deg	[env.py: 1019]
+05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83408108  0.36353014 -0.03548195] yaw=175.7deg	[env.py: 1019]
+05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.75057912  0.42426268 -0.03548195] yaw=172.8deg	[env.py: 1019]
+05/10 09:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:04:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=251.4ms, total=251.4ms	[env.py: 1075]
+05/10 09:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.841, 0.303, -0.035)	[env.py: 1079]
+05/10 09:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.5 deg	[env.py: 1082]
+05/10 09:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m	[env.py: 1086]
+05/10 09:04:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:04:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:04:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:04:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:04:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:04:43 INFO: [Worker 0] Worker 0 house 1 episode 133/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:04:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:04:43 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 09:04:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:04:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:04:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.426s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:04:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.462[m] 95.957[deg]	[grasp_sample.py: 539]
+05/10 09:04:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:04:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:04:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:04:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:04:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:04:56 INFO: [Worker 0] Worker 0 house 1 episode 128 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:05:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:05:21 INFO: [Worker 0] Saved videos eagerly for episode 94 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:05:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 09:05:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:05:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:05:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:05:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:05:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.85s (batch: 4.50s, save: 8.35s)	[pipeline.py: 300]
+05/10 09:05:35 INFO: [Worker 0] [PROFILE] Episode 128 house 1 success=True episode_total=0.42s:
+  episode_total: mean=198.59s, total=198.59s, count=1, min=198591.6ms, max=198591.6ms
+  sensor_polling: mean=472.4ms, total=141.73s, count=300, min=391.7ms, max=825.8ms
+  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8353.2ms, max=8353.2ms
+  physics_step: mean=22.6ms, total=6.78s, count=300, min=16.3ms, max=45.5ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4496.5ms, max=4496.5ms
+  task_sampling: mean=417.8ms, total=417.8ms, count=1, min=417.8ms, max=417.8ms
+  task_specific_sample: mean=414.3ms, total=414.3ms, count=1, min=414.3ms, max=414.3ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=372.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.1us, 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 09:05:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:05:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:05:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:05:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:05:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:05:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:05:36 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 09:05:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:05:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030267m	[env.py: 870]
+05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:05:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76283707  0.44767427  0.03026713] yaw=166.8deg	[env.py: 1019]
+05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.77027253  0.31892801  0.03026713] yaw=176.9deg	[env.py: 1019]
+05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86612814  0.3101288   0.03026713] yaw=157.5deg	[env.py: 1019]
+05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:05:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.5ms, total=176.5ms	[env.py: 1075]
+05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.763, 0.448, 0.030)	[env.py: 1079]
+05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.8 deg	[env.py: 1082]
+05/10 09:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
+05/10 09:05:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:05:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:05:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:05:37 INFO: [Worker 0] Worker 0 house 1 episode 129/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:05:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:05:37 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 09:05:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:05:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:05:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.444s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:05:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.485[m] 82.305[deg]	[grasp_sample.py: 539]
+05/10 09:05:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:05:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:05:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:05:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:05:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:06:20 INFO: [Worker 0] Worker 0 house 1 episode 130 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:06:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:06:28 INFO: [Worker 0] Worker 0 house 1 episode 136 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:06:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:06:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:06:40 INFO: [Worker 0] Saved videos eagerly for episode 96 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:06:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 09:06:40 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
+05/10 09:06:50 INFO: [Worker 0] Saved videos eagerly for episode 89 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:06:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 09:06:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:06:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:06:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:06:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.35s (batch: 4.01s, save: 9.34s)	[pipeline.py: 300]
+05/10 09:06:54 INFO: [Worker 0] [PROFILE] Episode 130 house 1 success=True episode_total=0.43s:
+  episode_total: mean=184.10s, total=184.10s, count=1, min=184104.7ms, max=184104.7ms
+  sensor_polling: mean=467.6ms, total=138.40s, count=296, min=394.6ms, max=911.1ms
+  save_trajectories: mean=9.34s, total=9.34s, count=1, min=9342.2ms, max=9342.2ms
+  physics_step: mean=22.1ms, total=6.53s, count=296, min=16.9ms, max=71.9ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4005.2ms, max=4005.2ms
+  task_sampling: mean=426.0ms, total=426.0ms, count=1, min=426.0ms, max=426.0ms
+  task_specific_sample: mean=421.5ms, total=421.5ms, count=1, min=421.5ms, max=421.5ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=530.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.4us, 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 09:06:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:06:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:06:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:06:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:06:56 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 09:06:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:06:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045375m	[env.py: 870]
+05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:06:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81386176  0.71470497 -0.04537484] yaw=-173.9deg	[env.py: 1019]
+05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8989912   1.21119187 -0.04537484] yaw=-140.4deg	[env.py: 1019]
+05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83370813  1.00670055 -0.04537484] yaw=-153.2deg	[env.py: 1019]
+05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:06:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.8ms, total=146.8ms	[env.py: 1075]
+05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.814, 0.715, -0.045)	[env.py: 1079]
+05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.9 deg	[env.py: 1082]
+05/10 09:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
+05/10 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:06:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:06:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:06:56 INFO: [Worker 0] Worker 0 house 1 episode 131/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:06:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:06:56 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 09:06:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:06:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:06:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.544s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:06:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.484[m] 90.415[deg]	[grasp_sample.py: 539]
+05/10 09:06:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:06:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:06:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:07:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:07:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:07:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.28s (batch: 4.25s, save: 9.03s)	[pipeline.py: 300]
+05/10 09:07:04 INFO: [Worker 0] [PROFILE] Episode 136 house 1 success=True episode_total=0.81s:
+  episode_total: mean=93.79s, total=187.58s, count=2, min=2067.1ms, max=185512.9ms
+  sensor_polling: mean=462.0ms, total=138.61s, count=300, min=391.7ms, max=844.2ms
+  save_trajectories: mean=9.03s, total=9.03s, count=1, min=9025.2ms, max=9025.2ms
+  physics_step: mean=21.8ms, total=6.54s, count=300, min=16.5ms, max=68.0ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4252.9ms, max=4252.9ms
+  task_sampling: mean=405.9ms, total=811.7ms, count=2, min=358.0ms, max=453.8ms
+  task_specific_sample: mean=402.5ms, total=805.0ms, count=2, min=354.7ms, max=450.3ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.3ms, max=2.3ms
+  mj_forward_sync: mean=442.2us, 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 09:07:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:07:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:07:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:07:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:07:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:07:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:07:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:07:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:07:06 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 09:07:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:07:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025710m	[env.py: 870]
+05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:07:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97833018  1.13239352  0.02570993] yaw=-127.6deg	[env.py: 1019]
+05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83923237  0.72034823  0.02570993] yaw=-155.7deg	[env.py: 1019]
+05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9942642   0.32867395  0.02570993] yaw=173.9deg	[env.py: 1019]
+05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:07:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.2ms, total=152.2ms	[env.py: 1075]
+05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.978, 1.132, 0.026)	[env.py: 1079]
+05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.6 deg	[env.py: 1082]
+05/10 09:07:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/10 09:07:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:07:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:07:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:07:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:07:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:07:06 INFO: [Worker 0] Worker 0 house 1 episode 137/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:07:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:07:07 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 09:07:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:07:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:07:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.165s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:07:11 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.537[m] 88.376[deg]	[grasp_sample.py: 539]
+05/10 09:07:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:07:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:07:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:07:14 INFO: [Worker 0] Worker 0 house 1 episode 133 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:07:40 INFO: [Worker 0] Saved videos eagerly for episode 98 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:07:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 09:07:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:07:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:07:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:07:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:07:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:07:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:07:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:07:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:07:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:07:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:07:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:07:56 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.68s (batch: 4.55s, save: 11.12s)	[pipeline.py: 300]
+05/10 09:07:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:07:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:07:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:07:56 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 09:07:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:07:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:07:56 INFO: [Worker 0] [PROFILE] Episode 133 house 1 success=True episode_total=0.51s:
+  episode_total: mean=194.13s, total=194.13s, count=1, min=194127.0ms, max=194127.0ms
+  sensor_polling: mean=466.2ms, total=139.87s, count=300, min=396.8ms, max=863.4ms
+  save_trajectories: mean=11.12s, total=11.12s, count=1, min=11120.8ms, max=11120.8ms
+  physics_step: mean=23.2ms, total=6.97s, count=300, min=14.2ms, max=67.8ms
+  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4554.7ms, max=4554.7ms
+  task_sampling: mean=505.4ms, total=505.4ms, count=1, min=505.4ms, max=505.4ms
+  task_specific_sample: mean=501.1ms, total=501.1ms, count=1, min=501.1ms, max=501.1ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=534.5us, 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 09:07:57 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.417s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:07:57 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.388[deg]	[grasp_sample.py: 539]
+05/10 09:07:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:07:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:07:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:07:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:07:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:07:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:07:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:07:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:07:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:07:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:07:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:07:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:07:58 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 09:07:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:07:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046520m	[env.py: 870]
+05/10 09:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:07:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90677122  1.19798566 -0.04651976] yaw=-140.1deg	[env.py: 1019]
+05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78163581  0.67258513 -0.04651976] yaw=-175.1deg	[env.py: 1019]
+05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98145442  0.43186018 -0.04651976] yaw=174.4deg	[env.py: 1019]
+05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:07:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=367.1ms, total=367.2ms	[env.py: 1075]
+05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.907, 1.198, -0.047)	[env.py: 1079]
+05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.1 deg	[env.py: 1082]
+05/10 09:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m	[env.py: 1086]
+05/10 09:07:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:07:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:07:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:07:59 INFO: [Worker 0] Worker 0 house 1 episode 134/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:07:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:07:59 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 09:07:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:07:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:08:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:08:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.071s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:08:04 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.635[m] 90.015[deg]	[grasp_sample.py: 539]
+05/10 09:08:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:08:06 ERROR: [Worker 0] Worker 0 house 1 episode 134 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 09:08:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:08:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:08:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:08:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:08:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:08:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:08:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:08:08 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 09:08:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:08:08 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 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017614m	[env.py: 870]
+05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:08:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72133279  0.96734597 -0.01761417] yaw=-151.8deg	[env.py: 1019]
+05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.65431077  0.31083452 -0.01761417] yaw=178.6deg	[env.py: 1019]
+05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.7929822   0.78701001 -0.01761417] yaw=-169.9deg	[env.py: 1019]
+05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:08:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.8ms, total=127.8ms	[env.py: 1075]
+05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.721, 0.967, -0.018)	[env.py: 1079]
+05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.8 deg	[env.py: 1082]
+05/10 09:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m	[env.py: 1086]
+05/10 09:08:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:08:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:08:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:08:08 INFO: [Worker 0] Worker 0 house 1 episode 135/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:08:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:08:08 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 09:08:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:08:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:08:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.563s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:08:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.656[m] 87.874[deg]	[grasp_sample.py: 539]
+05/10 09:08:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:08:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:08:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:08:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:08:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:08:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:08:21 INFO: [Worker 0] Worker 0 house 1 episode 129 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:08:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:08:48 INFO: [Worker 0] Saved videos eagerly for episode 95 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:08:48 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 09:08:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:09:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:09:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:09:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.39s (batch: 4.69s, save: 10.69s)	[pipeline.py: 300]
+05/10 09:09:05 INFO: [Worker 0] [PROFILE] Episode 129 house 1 success=True episode_total=0.46s:
+  episode_total: mean=208.25s, total=208.25s, count=1, min=208248.6ms, max=208248.6ms
+  sensor_polling: mean=473.1ms, total=141.93s, count=300, min=394.3ms, max=866.9ms
+  save_trajectories: mean=10.69s, total=10.69s, count=1, min=10694.5ms, max=10694.5ms
+  physics_step: mean=23.3ms, total=6.99s, count=300, min=13.2ms, max=59.9ms
+  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4694.3ms, max=4694.3ms
+  task_sampling: mean=463.0ms, total=463.0ms, count=1, min=463.0ms, max=463.0ms
+  task_specific_sample: mean=459.6ms, total=459.6ms, count=1, min=459.6ms, max=459.6ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=371.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.7us, 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 09:09:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:09:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:09:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:09:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:09:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:09:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:09:06 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 09:09:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:09:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030336m	[env.py: 870]
+05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:09:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.10911953  1.17316608  0.03033619] yaw=-140.8deg	[env.py: 1019]
+05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 127.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.07711805  0.89731855  0.03033619] yaw=-141.6deg	[env.py: 1019]
+05/10 09:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.65597808  0.71998371  0.03033619] yaw=-161.9deg	[env.py: 1019]
+05/10 09:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:09:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=239.2ms, total=239.2ms	[env.py: 1075]
+05/10 09:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.109, 1.173, 0.030)	[env.py: 1079]
+05/10 09:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.8 deg	[env.py: 1082]
+05/10 09:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
+05/10 09:09:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:09:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:09:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:09:07 INFO: [Worker 0] Worker 0 house 1 episode 130/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:09:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:09:07 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 09:09:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:09:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:09:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.639s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:09:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.478[m] 80.287[deg]	[grasp_sample.py: 539]
+05/10 09:09:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:09:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:09:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:09:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:09:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:09:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:09:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:09:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:09:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:09:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:09:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:09:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:09:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:09:50 INFO: [Worker 0] Worker 0 house 1 episode 131 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:09:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:09:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:09:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:09:52 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 09:09:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:09:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:09:56 INFO: [Worker 0] Feasibility-checked 80 grasps in 4.364s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:09:56 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.220[m] 2.913[deg]	[grasp_sample.py: 539]
+05/10 09:09:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:09:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:09:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:10:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:10:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:10:21 INFO: [Worker 0] Saved videos eagerly for episode 97 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:10:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 09:10:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:10:23 INFO: [Worker 0] Worker 0 house 1 episode 137 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:10:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:10:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:10:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:10:36 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.02s (batch: 4.91s, save: 10.11s)	[pipeline.py: 300]
+05/10 09:10:37 INFO: [Worker 0] [PROFILE] Episode 131 house 1 success=True episode_total=0.42s:
+  episode_total: mean=221.45s, total=221.45s, count=1, min=221451.0ms, max=221451.0ms
+  sensor_polling: mean=539.3ms, total=161.78s, count=300, min=400.2ms, max=1003.7ms
+  save_trajectories: mean=10.11s, total=10.11s, count=1, min=10111.4ms, max=10111.4ms
+  physics_step: mean=26.7ms, total=8.00s, count=300, min=13.6ms, max=96.8ms
+  save_batch_prep: mean=4.91s, total=4.91s, count=1, min=4906.1ms, max=4906.1ms
+  task_sampling: mean=417.7ms, total=417.7ms, count=1, min=417.7ms, max=417.7ms
+  task_specific_sample: mean=414.3ms, total=414.3ms, count=1, min=414.3ms, max=414.3ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=392.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.9us, 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 09:10:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:10:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:10:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:10:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:10:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:10:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:10:39 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 09:10:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:10:39 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 09:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000390m	[env.py: 870]
+05/10 09:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:10:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-8.67455418e-01  1.08339161e+00 -3.89945394e-04] yaw=-144.8deg	[env.py: 1019]
+05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 123.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-8.99706260e-01  4.40656346e-01 -3.89945394e-04] yaw=176.2deg	[env.py: 1019]
+05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-9.93572929e-01  6.38346681e-01 -3.89945394e-04] yaw=-160.0deg	[env.py: 1019]
+05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:10:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=516.5ms, total=516.5ms	[env.py: 1075]
+05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.867, 1.083, -0.000)	[env.py: 1079]
+05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.8 deg	[env.py: 1082]
+05/10 09:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
+05/10 09:10:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:10:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:10:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:10:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:10:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:10:40 INFO: [Worker 0] Worker 0 house 1 episode 132/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:10:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.174s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:10:40 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 09:10:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:10:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:10:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.075s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:10:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.598[m] 84.625[deg]	[grasp_sample.py: 539]
+05/10 09:10:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:10:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:10:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:10:53 INFO: [Worker 0] Saved videos eagerly for episode 90 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:10:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 09:10:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:11:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:11:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:11:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.50s (batch: 5.43s, save: 10.07s)	[pipeline.py: 300]
+05/10 09:11:09 INFO: [Worker 0] [PROFILE] Episode 137 house 1 success=True episode_total=0.42s:
+  episode_total: mean=243.44s, total=243.44s, count=1, min=243444.8ms, max=243444.8ms
+  sensor_polling: mean=541.4ms, total=162.42s, count=300, min=392.5ms, max=966.0ms
+  save_trajectories: mean=10.07s, total=10.07s, count=1, min=10071.6ms, max=10071.6ms
+  physics_step: mean=25.4ms, total=7.62s, count=300, min=13.3ms, max=68.9ms
+  save_batch_prep: mean=5.43s, total=5.43s, count=1, min=5430.6ms, max=5430.6ms
+  task_sampling: mean=415.6ms, total=415.6ms, count=1, min=415.6ms, max=415.6ms
+  task_specific_sample: mean=411.7ms, total=411.7ms, count=1, min=411.7ms, max=411.7ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=474.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.2us, 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 09:11:10 INFO: [Worker 0] Worker 0 house 1 episode 135 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:11:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:11:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:11:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:11:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:11:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:11:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:11:11 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 09:11:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:11:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.032m, effective arm-mount z=0.828m (base_body_z=-0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031661m	[env.py: 870]
+05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:11:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.1287116   1.13295673 -0.0316612 ] yaw=-139.9deg	[env.py: 1019]
+05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93373116  1.08291426 -0.0316612 ] yaw=-150.6deg	[env.py: 1019]
+05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86511593  0.34884102 -0.0316612 ] yaw=179.5deg	[env.py: 1019]
+05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:11:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.3ms, total=162.4ms	[env.py: 1075]
+05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.129, 1.133, -0.032)	[env.py: 1079]
+05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.9 deg	[env.py: 1082]
+05/10 09:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
+05/10 09:11:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:11:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:11:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:11:12 INFO: [Worker 0] Worker 0 house 1 episode 138/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:11:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:11:12 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 09:11:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:11:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:11:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:11:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.422[m] 82.192[deg]	[grasp_sample.py: 539]
+05/10 09:11:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:11:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:11:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:11:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:11:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:11:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:11:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:11:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:11:38 INFO: [Worker 0] Saved videos eagerly for episode 99 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:11:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 09:11:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:11:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:11:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:11:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:11:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:11:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:11:44 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 09:11:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:11:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.144s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:11:46 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.932s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:11:46 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.110[m] 0.648[deg]	[grasp_sample.py: 539]
+05/10 09:11:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:11:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:11:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:11:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:11:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:11:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:11:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.64s (batch: 5.14s, save: 9.49s)	[pipeline.py: 300]
+05/10 09:11:53 INFO: [Worker 0] [PROFILE] Episode 135 house 1 success=True episode_total=1.09s:
+  episode_total: mean=116.74s, total=233.48s, count=2, min=7691.6ms, max=225791.9ms
+  sensor_polling: mean=558.9ms, total=167.66s, count=300, min=445.9ms, max=1131.6ms
+  save_trajectories: mean=9.49s, total=9.49s, count=1, min=9492.2ms, max=9492.2ms
+  physics_step: mean=27.8ms, total=8.33s, count=300, min=18.4ms, max=115.5ms
+  save_batch_prep: mean=5.14s, total=5.14s, count=1, min=5143.9ms, max=5143.9ms
+  task_sampling: mean=546.5ms, total=1.09s, count=2, min=376.3ms, max=716.6ms
+  task_specific_sample: mean=542.8ms, total=1.09s, count=2, min=373.3ms, max=712.3ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.2ms, max=2.8ms
+  mj_forward_sync: mean=499.2us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.4us, 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 09:11:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:11:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:11:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:11:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:11:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:11:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:11:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:11:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:11:55 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 09:11:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:11:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005915m	[env.py: 870]
+05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:11:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84802099  0.443943   -0.00591523] yaw=168.4deg	[env.py: 1019]
+05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82885521  0.86045387 -0.00591523] yaw=-147.3deg	[env.py: 1019]
+05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04242316  0.72478422 -0.00591523] yaw=-149.4deg	[env.py: 1019]
+05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:11:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.9ms, total=85.9ms	[env.py: 1075]
+05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.848, 0.444, -0.006)	[env.py: 1079]
+05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.4 deg	[env.py: 1082]
+05/10 09:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
+05/10 09:11:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:11:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:11:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:11:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:11:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:11:56 INFO: [Worker 0] Worker 0 house 1 episode 136/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:11:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:11:56 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 09:11:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:11:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:11:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.522s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:11:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.454[m] 100.667[deg]	[grasp_sample.py: 539]
+05/10 09:11:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:11:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:11:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:11:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:11:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:12:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:12:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:12:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:12:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:12:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:12:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:12:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:12:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:12:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:12:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:12:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:12:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:12:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:12:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:12:19 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 09:12:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:12:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:12:21 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.733s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:12:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.108[m] 0.140[deg]	[grasp_sample.py: 539]
+05/10 09:12:22 ERROR: [Worker 0] Worker 0 house 1 episode 130 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 09:12:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:12:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:12:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:12:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:12:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:12:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:12:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:12:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:12:24 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 09:12:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:12:24 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 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032270m	[env.py: 870]
+05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:12:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03506424  0.81462164  0.03226966] yaw=-147.3deg	[env.py: 1019]
+05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78011915  0.37856831  0.03226966] yaw=167.9deg	[env.py: 1019]
+05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.75194431  0.1509713   0.03226966] yaw=155.7deg	[env.py: 1019]
+05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:12:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=386.1ms, total=386.1ms	[env.py: 1075]
+05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.035, 0.815, 0.032)	[env.py: 1079]
+05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg	[env.py: 1082]
+05/10 09:12:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.746m	[env.py: 1086]
+05/10 09:12:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:12:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:12:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:12:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:12:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:12:24 INFO: [Worker 0] Worker 0 house 1 episode 131/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:12:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:12:24 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 09:12:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:12:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:12:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.715s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:12:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.303[m] 87.235[deg]	[grasp_sample.py: 539]
+05/10 09:12:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:12:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:12:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:12:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:12:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:13:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:13:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:13:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:13:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:13:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:13:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:13:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:13:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:13:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:13:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:13:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:13:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:13:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:13:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:13:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:13:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:13:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:13:41 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 09:13:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:13:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:13:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:13:43 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.730s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:13:43 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.191[deg]	[grasp_sample.py: 539]
+05/10 09:13:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:13:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:13:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:13:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:13:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:13:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:13:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:13:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:13:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:13:50 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 09:13:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:13:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:13:52 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.726s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:13:52 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.267[deg]	[grasp_sample.py: 539]
+05/10 09:13:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:13:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:13:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:13:53 INFO: [Worker 0] Worker 0 house 1 episode 132 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:13:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:14:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:14:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:14:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:14:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:14:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:14:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:14:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:14:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:14:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:14:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:14:14 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 09:14:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:14:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:14:15 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.757s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:14:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.111[m] 0.117[deg]	[grasp_sample.py: 539]
+05/10 09:14:17 ERROR: [Worker 0] Worker 0 house 1 episode 138 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 09:14:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:14:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:14:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:14:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:14:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:14:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:14:19 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 09:14:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:14:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039696m	[env.py: 870]
+05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:14:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76708315  0.87444875  0.0396955 ] yaw=-154.6deg	[env.py: 1019]
+05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95633582  0.32342775  0.0396955 ] yaw=163.3deg	[env.py: 1019]
+05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 164.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.62496211  0.46281785  0.0396955 ] yaw=178.0deg	[env.py: 1019]
+05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:14:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=191.5ms, total=191.6ms	[env.py: 1075]
+05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.767, 0.874, 0.040)	[env.py: 1079]
+05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.6 deg	[env.py: 1082]
+05/10 09:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
+05/10 09:14:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:14:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:14:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:14:19 INFO: [Worker 0] Worker 0 house 1 episode 139/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:14:19 INFO: [Worker 0] Saved videos eagerly for episode 98 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:14:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 09:14:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:14:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:14:19 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 09:14:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:14:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:14:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.274s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:14:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.581[m] 84.832[deg]	[grasp_sample.py: 539]
+05/10 09:14:23 ERROR: [Worker 0] Worker 0 house 1 episode 139 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 09:14:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:14:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:14:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:14:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:14:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:14:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:14:25 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 09:14:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:14:25 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 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012854m	[env.py: 870]
+05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:14:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87687866  0.16591614 -0.01285359] yaw=149.3deg	[env.py: 1019]
+05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9209742   0.08788983 -0.01285359] yaw=159.7deg	[env.py: 1019]
+05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95405584  0.44204043 -0.01285359] yaw=175.5deg	[env.py: 1019]
+05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:14:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.1ms, total=217.2ms	[env.py: 1075]
+05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.877, 0.166, -0.013)	[env.py: 1079]
+05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.3 deg	[env.py: 1082]
+05/10 09:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m	[env.py: 1086]
+05/10 09:14:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:14:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:14:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:14:25 INFO: [Worker 0] Worker 0 house 1 episode 140/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:14:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.190s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:14:26 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 09:14:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:14:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.149s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:14:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.393s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:14:27 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.459[m] 91.295[deg]	[grasp_sample.py: 539]
+05/10 09:14:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:14:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:14:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:14:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:14:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:14:36 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.15s (batch: 4.89s, save: 12.25s)	[pipeline.py: 300]
+05/10 09:14:37 INFO: [Worker 0] [PROFILE] Episode 132 house 1 success=True episode_total=0.88s:
+  episode_total: mean=237.80s, total=237.80s, count=1, min=237799.3ms, max=237799.3ms
+  sensor_polling: mean=544.2ms, total=163.25s, count=300, min=467.1ms, max=945.4ms
+  save_trajectories: mean=12.25s, total=12.25s, count=1, min=12253.5ms, max=12253.5ms
+  physics_step: mean=26.7ms, total=8.00s, count=300, min=16.9ms, max=69.0ms
+  save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4893.6ms, max=4893.6ms
+  task_sampling: mean=878.0ms, total=878.0ms, count=1, min=878.0ms, max=878.0ms
+  task_specific_sample: mean=873.4ms, total=873.4ms, count=1, min=873.4ms, max=873.4ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=561.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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 09:14:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:14:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:14:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:14:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:14:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:14:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:14:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:14:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:14:39 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 09:14:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:14:39 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 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014731m	[env.py: 870]
+05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:14:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85742912  0.46733668 -0.01473128] yaw=170.7deg	[env.py: 1019]
+05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93947197  0.19728679 -0.01473128] yaw=162.2deg	[env.py: 1019]
+05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96910642  1.14230092 -0.01473128] yaw=-135.1deg	[env.py: 1019]
+05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:14:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.6ms, total=149.7ms	[env.py: 1075]
+05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.857, 0.467, -0.015)	[env.py: 1079]
+05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.7 deg	[env.py: 1082]
+05/10 09:14:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
+05/10 09:14:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:14:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:14:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:14:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:14:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:14:39 INFO: [Worker 0] Worker 0 house 1 episode 133/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:14:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:14:40 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 09:14:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:14:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:14:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.525s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:14:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.355[m] 78.871[deg]	[grasp_sample.py: 539]
+05/10 09:14:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:14:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:14:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:14:56 INFO: [Worker 0] Worker 0 house 1 episode 136 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:15:11 INFO: [Worker 0] Worker 0 house 1 episode 131 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:15:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:15:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:15:24 INFO: [Worker 0] Saved videos eagerly for episode 100 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:15:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 09:15:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:15:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:15:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:15:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:15:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:15:37 INFO: [Worker 0] Saved videos eagerly for episode 96 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:15:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 09:15:37 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/10 09:15:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:15:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:15:38 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.68s (batch: 5.07s, save: 9.61s)	[pipeline.py: 300]
+05/10 09:15:39 INFO: [Worker 0] [PROFILE] Episode 136 house 1 success=True episode_total=0.38s:
+  episode_total: mean=223.99s, total=223.99s, count=1, min=223992.2ms, max=223992.2ms
+  sensor_polling: mean=554.3ms, total=166.28s, count=300, min=465.3ms, max=1042.1ms
+  save_trajectories: mean=9.61s, total=9.61s, count=1, min=9612.4ms, max=9612.4ms
+  physics_step: mean=29.6ms, total=8.87s, count=300, min=18.4ms, max=71.2ms
+  save_batch_prep: mean=5.07s, total=5.07s, count=1, min=5068.3ms, max=5068.3ms
+  task_sampling: mean=379.3ms, total=379.3ms, count=1, min=379.3ms, max=379.3ms
+  task_specific_sample: mean=375.0ms, total=375.0ms, count=1, min=375.0ms, max=375.0ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=513.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.0us, 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 09:15:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:15:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:15:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:15:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:15:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:15:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:15:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 09:15:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:15:41 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 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044615m	[env.py: 870]
+05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:15:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.61985201  0.58743144  0.04461534] yaw=-164.9deg	[env.py: 1019]
+05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82057217  0.80627836  0.04461534] yaw=-155.0deg	[env.py: 1019]
+05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01353731  1.0360576   0.04461534] yaw=-132.7deg	[env.py: 1019]
+05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:15:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.7ms, total=139.7ms	[env.py: 1075]
+05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.620, 0.587, 0.045)	[env.py: 1079]
+05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.9 deg	[env.py: 1082]
+05/10 09:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
+05/10 09:15:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:15:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:15:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:15:42 INFO: [Worker 0] Worker 0 house 1 episode 137/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:15:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.152s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:15:42 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 09:15:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:15:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:15:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.115s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:15:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.665[m] 92.779[deg]	[grasp_sample.py: 539]
+05/10 09:15:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:15:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:15:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:15:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:15:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:15:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.12s (batch: 4.73s, save: 9.39s)	[pipeline.py: 300]
+05/10 09:15:52 INFO: [Worker 0] [PROFILE] Episode 131 house 1 success=True episode_total=1.30s:
+  episode_total: mean=202.04s, total=404.07s, count=2, min=195331.7ms, max=208739.6ms
+  sensor_polling: mean=556.7ms, total=308.40s, count=554, min=465.8ms, max=942.5ms
+  physics_step: mean=27.6ms, total=15.28s, count=554, min=16.0ms, max=157.7ms
+  save_trajectories: mean=9.39s, total=9.39s, count=1, min=9393.1ms, max=9393.1ms
+  save_batch_prep: mean=4.73s, total=4.73s, count=1, min=4731.7ms, max=4731.7ms
+  task_sampling: mean=647.8ms, total=1.30s, count=2, min=594.4ms, max=701.3ms
+  task_specific_sample: mean=644.0ms, total=1.29s, count=2, min=590.5ms, max=697.5ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.7ms, max=2.5ms
+  mj_forward_sync: mean=513.0us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=22.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 09:15:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:15:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:15:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:15:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:15:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:15:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:15:54 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 09:15:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:15:54 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 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023862m	[env.py: 870]
+05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:15:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64502132  0.63229461 -0.02386228] yaw=-176.0deg	[env.py: 1019]
+05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85839436  0.57919723 -0.02386228] yaw=-164.1deg	[env.py: 1019]
+05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97056742  0.66449915 -0.02386228] yaw=-175.6deg	[env.py: 1019]
+05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:15:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=138.5ms, total=138.6ms	[env.py: 1075]
+05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.645, 0.632, -0.024)	[env.py: 1079]
+05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.0 deg	[env.py: 1082]
+05/10 09:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m	[env.py: 1086]
+05/10 09:15:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:15:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:15:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:15:55 INFO: [Worker 0] Worker 0 house 1 episode 132/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:15:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:15:55 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 09:15:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:15:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:15:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.049s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:15:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.620[m] 89.544[deg]	[grasp_sample.py: 539]
+05/10 09:15:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:15:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:15:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:17:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:17:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:17:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:17:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:17:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:17:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:17:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:17:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:17:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:17:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:17:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:17:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:17:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:17:21 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 09:17:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:17:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:17:22 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.711s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:17:22 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.209[deg]	[grasp_sample.py: 539]
+05/10 09:17:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:17:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:17:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:17:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:17:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:17:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:17:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:17:38 INFO: [Worker 0] Worker 0 house 1 episode 133 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:17:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:17:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:17:51 INFO: [Worker 0] Worker 0 house 1 episode 140 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:18:02 INFO: [Worker 0] Saved videos eagerly for episode 99 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:18:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 09:18:02 INFO: [Worker 0] Preparing episode data: 291 timesteps	[save_utils.py: 278]
+05/10 09:18:13 INFO: [Worker 0] Saved videos eagerly for episode 91 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:18:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 09:18:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:18:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:18:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:18:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.30s (batch: 4.55s, save: 9.75s)	[pipeline.py: 300]
+05/10 09:18:17 INFO: [Worker 0] [PROFILE] Episode 133 house 1 success=True episode_total=0.45s:
+  episode_total: mean=217.78s, total=217.78s, count=1, min=217783.0ms, max=217783.0ms
+  sensor_polling: mean=561.8ms, total=162.93s, count=290, min=463.5ms, max=1025.9ms
+  save_trajectories: mean=9.75s, total=9.75s, count=1, min=9749.2ms, max=9749.2ms
+  physics_step: mean=31.0ms, total=8.99s, count=290, min=20.0ms, max=129.1ms
+  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4549.1ms, max=4549.1ms
+  task_sampling: mean=448.9ms, total=448.9ms, count=1, min=448.9ms, max=448.9ms
+  task_specific_sample: mean=444.7ms, total=444.7ms, count=1, min=444.7ms, max=444.7ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=441.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 09:18:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:18:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:18:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:18:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:18:19 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 09:18:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:18:19 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 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015803m	[env.py: 870]
+05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:18:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93527454  0.22237835 -0.01580272] yaw=166.9deg	[env.py: 1019]
+05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91631478  0.49788883 -0.01580272] yaw=-175.8deg	[env.py: 1019]
+05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9037058   0.99819839 -0.01580272] yaw=-153.1deg	[env.py: 1019]
+05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:18:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=461.6ms, total=461.6ms	[env.py: 1075]
+05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.935, 0.222, -0.016)	[env.py: 1079]
+05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.9 deg	[env.py: 1082]
+05/10 09:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
+05/10 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:18:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:18:19 INFO: [Worker 0] Worker 0 house 1 episode 134/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:18:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:18:19 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 09:18:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:18:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:18:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.513s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:18:20 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.400[m] 95.710[deg]	[grasp_sample.py: 539]
+05/10 09:18:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:18:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:18:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:18:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:18:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:18:26 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.48s (batch: 4.15s, save: 9.34s)	[pipeline.py: 300]
+05/10 09:18:27 INFO: [Worker 0] [PROFILE] Episode 140 house 1 success=True episode_total=1.63s:
+  episode_total: mean=143.96s, total=431.87s, count=3, min=4349.3ms, max=242083.9ms
+  sensor_polling: mean=552.2ms, total=314.21s, count=569, min=454.8ms, max=1036.7ms
+  physics_step: mean=27.0ms, total=15.39s, count=569, min=17.7ms, max=93.4ms
+  save_trajectories: mean=9.34s, total=9.34s, count=1, min=9337.9ms, max=9337.9ms
+  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4146.1ms, max=4146.1ms
+  task_sampling: mean=544.4ms, total=1.63s, count=3, min=524.6ms, max=565.9ms
+  task_specific_sample: mean=538.8ms, total=1.62s, count=3, min=516.1ms, max=562.2ms
+  scene_randomize: mean=2.0ms, total=5.9ms, count=3, min=1.4ms, max=2.9ms
+  mj_forward_sync: mean=496.7us, total=1.5ms, count=3, min=0.5ms, max=0.5ms
+  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 09:18:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:18:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:18:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:18:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:18:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:18:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:18:29 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 09:18:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:18:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043866m	[env.py: 870]
+05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:18:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79379386  0.60191676 -0.04386642] yaw=-183.2deg	[env.py: 1019]
+05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89430261  0.56844082 -0.04386642] yaw=-166.9deg	[env.py: 1019]
+05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83740391  0.20299056 -0.04386642] yaw=158.6deg	[env.py: 1019]
+05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:18:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.5ms, total=123.5ms	[env.py: 1075]
+05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.794, 0.602, -0.044)	[env.py: 1079]
+05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.2 deg	[env.py: 1082]
+05/10 09:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/10 09:18:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:18:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:18:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:18:29 INFO: [Worker 0] Worker 0 house 1 episode 141/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:18:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:18:29 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 09:18:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:18:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:18:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.512s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:18:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.482[m] 87.637[deg]	[grasp_sample.py: 539]
+05/10 09:18:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:18:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:18:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:18:39 INFO: [Worker 0] Worker 0 house 1 episode 137 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:18:54 INFO: [Worker 0] Worker 0 house 1 episode 132 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:19:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:19:06 INFO: [Worker 0] Saved videos eagerly for episode 101 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:19:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 09:19:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:19:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:19:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:19:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:19:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:19:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.15s (batch: 5.02s, save: 11.13s)	[pipeline.py: 300]
+05/10 09:19:23 INFO: [Worker 0] [PROFILE] Episode 137 house 1 success=True episode_total=0.52s:
+  episode_total: mean=221.56s, total=221.56s, count=1, min=221555.7ms, max=221555.7ms
+  sensor_polling: mean=543.9ms, total=163.17s, count=300, min=453.9ms, max=1186.8ms
+  save_trajectories: mean=11.13s, total=11.13s, count=1, min=11134.2ms, max=11134.2ms
+  physics_step: mean=26.7ms, total=8.02s, count=300, min=17.6ms, max=120.7ms
+  save_batch_prep: mean=5.02s, total=5.02s, count=1, min=5016.4ms, max=5016.4ms
+  task_sampling: mean=521.7ms, total=521.7ms, count=1, min=521.7ms, max=521.7ms
+  task_specific_sample: mean=516.6ms, total=516.6ms, count=1, min=516.6ms, max=516.6ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=636.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.4us, 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 09:19:24 INFO: [Worker 0] Saved videos eagerly for episode 97 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:19:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 09:19:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:19:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:19:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:19:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:19:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:19:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:19:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:19:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:19:25 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 09:19:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:19:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.019m, effective arm-mount z=0.841m (base_body_z=-0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018647m	[env.py: 870]
+05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:19:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65534782  0.79197062 -0.01864702] yaw=-164.8deg	[env.py: 1019]
+05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9663042   0.43849645 -0.01864702] yaw=185.1deg	[env.py: 1019]
+05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84446677  0.30798223 -0.01864702] yaw=160.5deg	[env.py: 1019]
+05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:19:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.0ms, total=171.0ms	[env.py: 1075]
+05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.655, 0.792, -0.019)	[env.py: 1079]
+05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.8 deg	[env.py: 1082]
+05/10 09:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
+05/10 09:19:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:19:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:19:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:19:25 INFO: [Worker 0] Worker 0 house 1 episode 138/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:19:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:19:25 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 09:19:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:19:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:19:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.517s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:19:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.631[m] 87.119[deg]	[grasp_sample.py: 539]
+05/10 09:19:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:19:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:19:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:19:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:19:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:19:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:19:41 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.39s (batch: 4.65s, save: 11.73s)	[pipeline.py: 300]
+05/10 09:19:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:19:42 INFO: [Worker 0] [PROFILE] Episode 132 house 1 success=True episode_total=0.48s:
+  episode_total: mean=227.64s, total=227.64s, count=1, min=227644.3ms, max=227644.3ms
+  sensor_polling: mean=549.5ms, total=164.85s, count=300, min=459.7ms, max=1056.6ms
+  save_trajectories: mean=11.73s, total=11.73s, count=1, min=11734.6ms, max=11734.6ms
+  physics_step: mean=26.5ms, total=7.96s, count=300, min=16.7ms, max=95.1ms
+  save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4651.9ms, max=4651.9ms
+  task_sampling: mean=476.6ms, total=476.6ms, count=1, min=476.6ms, max=476.6ms
+  task_specific_sample: mean=471.6ms, total=471.6ms, count=1, min=471.6ms, max=471.6ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=680.1us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=19.4us, 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 09:19:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:19:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:19:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:19:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:19:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:19:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:19:44 INFO: [Worker 0] [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 09:19:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:19:44 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 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025250m	[env.py: 870]
+05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:19:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96581884  0.48491053 -0.02524956] yaw=-177.7deg	[env.py: 1019]
+05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79320013  0.59157655 -0.02524956] yaw=-171.7deg	[env.py: 1019]
+05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06480409  0.87737716 -0.02524956] yaw=-157.8deg	[env.py: 1019]
+05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:19:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.9ms, total=223.9ms	[env.py: 1075]
+05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.966, 0.485, -0.025)	[env.py: 1079]
+05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.7 deg	[env.py: 1082]
+05/10 09:19:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.737m	[env.py: 1086]
+05/10 09:19:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:19:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:19:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:19:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:19:44 INFO: [Worker 0] Worker 0 house 1 episode 133/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:19:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.155s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:19:45 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 09:19:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:19:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:19:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.492s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:19:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.291[m] 86.162[deg]	[grasp_sample.py: 539]
+05/10 09:19:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:19:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:19:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:20:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:20:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:20:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:20:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:20:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:20:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:20:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:20:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:21:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:21:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:21:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:21:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:21:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:21:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:21:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:21:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:21:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:21:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:21:13 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 09:21:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:21:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:21:13 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.548s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:21:13 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.480[deg]	[grasp_sample.py: 539]
+05/10 09:21:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:21:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:21:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:21:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:21:33 INFO: [Worker 0] Worker 0 house 1 episode 141 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:21:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:21:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:21:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:21:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:21:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:21:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:21:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:21:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:21:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:21:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:21:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:21:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:21:58 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 09:21:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:21:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:21:59 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.798s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:21:59 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.242[deg]	[grasp_sample.py: 539]
+05/10 09:22:00 ERROR: [Worker 0] Worker 0 house 1 episode 133 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 09:22:00 INFO: [Worker 0] Worker 0 house 1 episode 134 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:22:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:22:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:22:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:22:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:22:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:22:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:22:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:22:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:22:02 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 09:22:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:22:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034253m	[env.py: 870]
+05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:22:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75733891  0.4898248   0.03425274] yaw=-177.1deg	[env.py: 1019]
+05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.61719077  0.37483793  0.03425274] yaw=164.0deg	[env.py: 1019]
+05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87897553  0.91412343  0.03425274] yaw=-161.2deg	[env.py: 1019]
+05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:22:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=407.4ms, total=407.4ms	[env.py: 1075]
+05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.757, 0.490, 0.034)	[env.py: 1079]
+05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.1 deg	[env.py: 1082]
+05/10 09:22:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m	[env.py: 1086]
+05/10 09:22:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:22:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:22:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:22:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:22:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:22:03 INFO: [Worker 0] Worker 0 house 1 episode 134/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:22:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.146s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:22:03 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 09:22:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:22:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:22:03 INFO: [Worker 0] Saved videos eagerly for episode 92 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:22:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 09:22:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:22:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.546s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:22:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.525[m] 90.523[deg]	[grasp_sample.py: 539]
+05/10 09:22:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:22:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:22:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:22:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:22:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:22:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.57s (batch: 5.72s, save: 10.86s)	[pipeline.py: 300]
+05/10 09:22:21 INFO: [Worker 0] [PROFILE] Episode 141 house 1 success=True episode_total=0.42s:
+  episode_total: mean=231.98s, total=231.98s, count=1, min=231976.8ms, max=231976.8ms
+  sensor_polling: mean=567.4ms, total=170.23s, count=300, min=466.1ms, max=1009.0ms
+  save_trajectories: mean=10.86s, total=10.86s, count=1, min=10855.9ms, max=10855.9ms
+  physics_step: mean=28.3ms, total=8.49s, count=300, min=16.7ms, max=114.3ms
+  save_batch_prep: mean=5.72s, total=5.72s, count=1, min=5716.5ms, max=5716.5ms
+  task_sampling: mean=424.1ms, total=424.1ms, count=1, min=424.1ms, max=424.1ms
+  task_specific_sample: mean=420.2ms, total=420.2ms, count=1, min=420.2ms, max=420.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=437.4us, 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 09:22:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:22:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:22:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:22:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:22:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:22:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:22:22 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 09:22:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:22:22 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 09:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015438m	[env.py: 870]
+05/10 09:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:22:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95254503  1.17481048 -0.01543765] yaw=-146.7deg	[env.py: 1019]
+05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 131.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69195845  0.1914401  -0.01543765] yaw=153.6deg	[env.py: 1019]
+05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98871273  0.09612155 -0.01543765] yaw=158.9deg	[env.py: 1019]
+05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:22:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.5ms, total=171.6ms	[env.py: 1075]
+05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.953, 1.175, -0.015)	[env.py: 1079]
+05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.7 deg	[env.py: 1082]
+05/10 09:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m	[env.py: 1086]
+05/10 09:22:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:22:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:22:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:22:23 INFO: [Worker 0] Worker 0 house 1 episode 142/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:22:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:22:23 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 09:22:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:22:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:22:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.789s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:22:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.612[m] 85.763[deg]	[grasp_sample.py: 539]
+05/10 09:22:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:22:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:22:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:22:29 INFO: [Worker 0] Saved videos eagerly for episode 100 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:22:29 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 09:22:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:22:31 INFO: [Worker 0] Worker 0 house 1 episode 138 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:22:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:22:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:22:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.38s (batch: 4.72s, save: 12.66s)	[pipeline.py: 300]
+05/10 09:22:47 INFO: [Worker 0] [PROFILE] Episode 134 house 1 success=True episode_total=0.83s:
+  episode_total: mean=268.43s, total=268.43s, count=1, min=268429.0ms, max=268429.0ms
+  sensor_polling: mean=552.7ms, total=165.82s, count=300, min=463.8ms, max=1174.0ms
+  save_trajectories: mean=12.66s, total=12.66s, count=1, min=12656.8ms, max=12656.8ms
+  physics_step: mean=29.1ms, total=8.74s, count=300, min=16.2ms, max=113.6ms
+  save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4719.1ms, max=4719.1ms
+  task_sampling: mean=829.8ms, total=829.8ms, count=1, min=829.8ms, max=829.8ms
+  task_specific_sample: mean=826.0ms, total=826.0ms, count=1, min=826.0ms, max=826.0ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=406.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.5us, 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 09:22:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:22:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:22:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:22:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:22:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:22:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:22:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:22:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:22:49 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 09:22:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:22:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003832m	[env.py: 870]
+05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:22:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.16495728  1.07565164 -0.00383183] yaw=-142.8deg	[env.py: 1019]
+05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09685098  1.2329006  -0.00383183] yaw=-119.5deg	[env.py: 1019]
+05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82537551  0.95514517 -0.00383183] yaw=-159.2deg	[env.py: 1019]
+05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:22:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=209.4ms, total=209.5ms	[env.py: 1075]
+05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.165, 1.076, -0.004)	[env.py: 1079]
+05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.8 deg	[env.py: 1082]
+05/10 09:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
+05/10 09:22:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:22:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:22:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:22:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:22:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:22:50 INFO: [Worker 0] Worker 0 house 1 episode 135/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:22:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:22:50 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 09:22:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:22:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:22:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.913s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:22:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.360[m] 83.418[deg]	[grasp_sample.py: 539]
+05/10 09:22:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:22:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:22:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:22:59 INFO: [Worker 0] Saved videos eagerly for episode 102 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:22:59 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 09:22:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:23:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:23:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:23:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:23:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.31s (batch: 4.90s, save: 10.41s)	[pipeline.py: 300]
+05/10 09:23:15 INFO: [Worker 0] [PROFILE] Episode 138 house 1 success=True episode_total=0.50s:
+  episode_total: mean=230.09s, total=230.09s, count=1, min=230094.7ms, max=230094.7ms
+  sensor_polling: mean=568.6ms, total=170.59s, count=300, min=455.3ms, max=1153.1ms
+  save_trajectories: mean=10.41s, total=10.41s, count=1, min=10411.4ms, max=10411.4ms
+  physics_step: mean=28.9ms, total=8.67s, count=300, min=18.9ms, max=98.3ms
+  save_batch_prep: mean=4.90s, total=4.90s, count=1, min=4898.5ms, max=4898.5ms
+  task_sampling: mean=498.0ms, total=498.0ms, count=1, min=498.0ms, max=498.0ms
+  task_specific_sample: mean=494.3ms, total=494.3ms, count=1, min=494.3ms, max=494.3ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=463.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.7us, 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 09:23:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:23:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:23:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:23:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:23:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:23:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:23:17 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 09:23:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:23:17 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 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022859m	[env.py: 870]
+05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:23:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82352979  0.45502925  0.0228591 ] yaw=172.8deg	[env.py: 1019]
+05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.65878916  0.66831771  0.0228591 ] yaw=-167.4deg	[env.py: 1019]
+05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.65940268  0.26960396  0.0228591 ] yaw=160.1deg	[env.py: 1019]
+05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:23:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=309.0ms, total=309.1ms	[env.py: 1075]
+05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.824, 0.455, 0.023)	[env.py: 1079]
+05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.8 deg	[env.py: 1082]
+05/10 09:23:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m	[env.py: 1086]
+05/10 09:23:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:23:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:23:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:23:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:23:18 INFO: [Worker 0] Worker 0 house 1 episode 139/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:23:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:23:18 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 09:23:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:23:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:23:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.012s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:23:19 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.394[m] 85.252[deg]	[grasp_sample.py: 539]
+05/10 09:23:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:23:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:23:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:23:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:23:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:23:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:23:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:23:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:23:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:23:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:23:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:24:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:24:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:24:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:24:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:24:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:24:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:24:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:24:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:24:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:24:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:25:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:25:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:25:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:25:01 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 09:25:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:25:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:25:02 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.700s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:25:02 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.146[deg]	[grasp_sample.py: 539]
+05/10 09:25:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:25:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:25:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:25:06 INFO: [Worker 0] Worker 0 house 1 episode 134 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:25:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:25:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:25:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:25:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:25:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:25:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:25:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:25:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:25:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:25:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:25:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:25:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:25:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:25:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:25:20 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 09:25:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:25:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:25:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:25:23 INFO: [Worker 0] Feasibility-checked 84 grasps in 2.313s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:25:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.044[m] 0.556[deg]	[grasp_sample.py: 539]
+05/10 09:25:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:25:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:25:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:25:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:25:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:25:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:25:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:25:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:25:28 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 09:25:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:25:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:25:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:25:30 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.816s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:25:30 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.289[deg]	[grasp_sample.py: 539]
+05/10 09:25:32 ERROR: [Worker 0] Worker 0 house 1 episode 135 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 09:25:32 INFO: [Worker 0] Saved videos eagerly for episode 98 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:25:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 09:25:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:25:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:25:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:25:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:25:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:25:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:25:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:25:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:25:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:25:33 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 09:25:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:25:33 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 09:25:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:25:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:25:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033202m	[env.py: 870]
+05/10 09:25:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:25:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94908042  0.74212032  0.03320225] yaw=-149.5deg	[env.py: 1019]
+05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83945073  0.53451153  0.03320225] yaw=-186.8deg	[env.py: 1019]
+05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.95733566  1.13348261  0.03320225] yaw=-143.5deg	[env.py: 1019]
+05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:25:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=426.1ms, total=426.1ms	[env.py: 1075]
+05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.742, 0.033)	[env.py: 1079]
+05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.5 deg	[env.py: 1082]
+05/10 09:25:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.797m	[env.py: 1086]
+05/10 09:25:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:25:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:25:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:25:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:25:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:25:34 INFO: [Worker 0] Worker 0 house 1 episode 136/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:25:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:25:34 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 09:25:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:25:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:25:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.534s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:25:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.357[m] 87.976[deg]	[grasp_sample.py: 539]
+05/10 09:25:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:25:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:25:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:25:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:25:45 INFO: [Worker 0] Worker 0 house 1 episode 142 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 09:25:45 INFO: [Worker 0] [PROFILE] Episode 142 house 1 success=False episode_total=0.51s:
+  episode_total: mean=203.04s, total=203.04s, count=1, min=203040.9ms, max=203040.9ms
+  sensor_polling: mean=548.5ms, total=164.56s, count=300, min=455.8ms, max=1098.9ms
+  physics_step: mean=26.9ms, total=8.06s, count=300, min=17.5ms, max=107.8ms
+  task_sampling: mean=512.7ms, total=512.7ms, count=1, min=512.7ms, max=512.7ms
+  task_specific_sample: mean=507.7ms, total=507.7ms, count=1, min=507.7ms, max=507.7ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=698.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=17.6us, 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 09:25:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:25:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:25:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:25:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:25:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:25:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:25:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:25:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 09:25:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:25:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034205m	[env.py: 870]
+05/10 09:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:25:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:25:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86944107  0.48870061  0.03420538] yaw=-172.5deg	[env.py: 1019]
+05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68762722  0.32635292  0.03420538] yaw=163.4deg	[env.py: 1019]
+05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:25:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:25:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:25:48 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.42s (batch: 4.66s, save: 10.76s)	[pipeline.py: 300]
+05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92547509  0.58414281  0.03420538] yaw=-162.4deg	[env.py: 1019]
+05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:25:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=330.8ms, total=330.8ms	[env.py: 1075]
+05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.489, 0.034)	[env.py: 1079]
+05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.5 deg	[env.py: 1082]
+05/10 09:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
+05/10 09:25:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:25:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:25:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:25:48 INFO: [Worker 0] Worker 0 house 1 episode 143/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:25:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:25:48 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 09:25:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:25:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:25:48 INFO: [Worker 0] [PROFILE] Episode 134 house 1 success=True episode_total=1.27s:
+  episode_total: mean=181.35s, total=362.70s, count=2, min=136136.2ms, max=226564.5ms
+  sensor_polling: mean=563.7ms, total=272.27s, count=483, min=469.6ms, max=1016.7ms
+  physics_step: mean=28.3ms, total=13.65s, count=483, min=15.0ms, max=116.2ms
+  save_trajectories: mean=10.76s, total=10.76s, count=1, min=10756.7ms, max=10756.7ms
+  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4663.3ms, max=4663.3ms
+  task_sampling: mean=632.6ms, total=1.27s, count=2, min=546.3ms, max=718.9ms
+  task_specific_sample: mean=628.2ms, total=1.26s, count=2, min=541.9ms, max=714.5ms
+  scene_randomize: mean=2.6ms, total=5.2ms, count=2, min=2.3ms, max=2.9ms
+  mj_forward_sync: mean=512.0us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.8us, 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 09:25:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:25:49 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.375[m] 87.428[deg]	[grasp_sample.py: 539]
+05/10 09:25:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:25:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:25:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:25:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:25:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:25:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:25:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:25:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:25:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:25:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:25:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:25:50 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 09:25:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:25:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.022m, effective arm-mount z=0.838m (base_body_z=-0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021909m	[env.py: 870]
+05/10 09:25:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:25:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94890202  0.32192207 -0.02190908] yaw=174.0deg	[env.py: 1019]
+05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03510059  0.84277634 -0.02190908] yaw=-157.0deg	[env.py: 1019]
+05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00302198  0.63117375 -0.02190908] yaw=-173.5deg	[env.py: 1019]
+05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:25:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=230.4ms, total=230.4ms	[env.py: 1075]
+05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.322, -0.022)	[env.py: 1079]
+05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.0 deg	[env.py: 1082]
+05/10 09:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.770m	[env.py: 1086]
+05/10 09:25:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:25:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:25:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:25:51 INFO: [Worker 0] Worker 0 house 1 episode 135/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:25:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:25:51 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 09:25:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:25:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.168s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:25:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.972s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:25:52 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.376[m] 96.312[deg]	[grasp_sample.py: 539]
+05/10 09:25:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:25:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:25:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:26:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:26:22 INFO: [Worker 0] Worker 0 house 1 episode 139 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:26:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:26:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:26:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:26:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:26:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:26:48 INFO: [Worker 0] Saved videos eagerly for episode 103 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:26:48 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 09:26:48 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/10 09:26:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:26:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:26:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:27:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:27:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:27:07 INFO: [Worker 0] Successfully saved trajectory data for sim in 19.24s (batch: 5.37s, save: 13.87s)	[pipeline.py: 300]
+05/10 09:27:08 INFO: [Worker 0] [PROFILE] Episode 139 house 1 success=True episode_total=0.64s:
+  episode_total: mean=230.81s, total=230.81s, count=1, min=230814.2ms, max=230814.2ms
+  sensor_polling: mean=553.7ms, total=165.57s, count=299, min=464.3ms, max=1094.7ms
+  save_trajectories: mean=13.87s, total=13.87s, count=1, min=13865.7ms, max=13865.7ms
+  physics_step: mean=30.5ms, total=9.11s, count=299, min=20.0ms, max=75.1ms
+  save_batch_prep: mean=5.37s, total=5.37s, count=1, min=5373.9ms, max=5373.9ms
+  task_sampling: mean=644.3ms, total=644.3ms, count=1, min=644.3ms, max=644.3ms
+  task_specific_sample: mean=639.7ms, total=639.7ms, count=1, min=639.7ms, max=639.7ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=540.6us, 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 09:27:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:27:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:27:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:27:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:27:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:27:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:27:10 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 09:27:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:27:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002459m	[env.py: 870]
+05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:27:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.61603723  0.43571659 -0.00245873] yaw=180.7deg	[env.py: 1019]
+05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:27:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=578.0ms, total=578.0ms	[env.py: 1075]
+05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.616, 0.436, -0.002)	[env.py: 1079]
+05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.7 deg	[env.py: 1082]
+05/10 09:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m	[env.py: 1086]
+05/10 09:27:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:27:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:27:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:27:11 INFO: [Worker 0] Worker 0 house 1 episode 140/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:27:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.146s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:27:11 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 09:27:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:27:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:27:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.012s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:27:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.660[m] 93.837[deg]	[grasp_sample.py: 539]
+05/10 09:27:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:27:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:27:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:28:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:28:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:28:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:28:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:28:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:28:32 INFO: [Worker 0] Worker 0 house 1 episode 136 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:28:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:28:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:28:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:28:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:28:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:28:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:28:39 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 09:28:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:28:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:28:40 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.728s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:28:40 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.665[deg]	[grasp_sample.py: 539]
+05/10 09:28:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:28:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:28:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:28:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:28:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:28:47 INFO: [Worker 0] Worker 0 house 1 episode 143 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:28:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:28:58 INFO: [Worker 0] Saved videos eagerly for episode 101 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:28:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 09:28:58 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/10 09:28:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:29:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:29:12 INFO: [Worker 0] Saved videos eagerly for episode 93 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:29:12 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 09:29:12 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
+05/10 09:29:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:29:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:29:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.19s (batch: 4.29s, save: 10.90s)	[pipeline.py: 300]
+05/10 09:29:14 INFO: [Worker 0] [PROFILE] Episode 136 house 1 success=True episode_total=1.54s:
+  episode_total: mean=191.64s, total=383.28s, count=2, min=162645.0ms, max=220630.4ms
+  sensor_polling: mean=560.0ms, total=299.03s, count=534, min=464.1ms, max=994.0ms
+  physics_step: mean=28.4ms, total=15.18s, count=534, min=19.2ms, max=137.2ms
+  save_trajectories: mean=10.90s, total=10.90s, count=1, min=10897.1ms, max=10897.1ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4291.6ms, max=4291.6ms
+  task_sampling: mean=770.2ms, total=1.54s, count=2, min=752.7ms, max=787.6ms
+  task_specific_sample: mean=765.7ms, total=1.53s, count=2, min=748.8ms, max=782.6ms
+  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=1.7ms, max=3.3ms
+  mj_forward_sync: mean=617.0us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 09:29:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:29:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:29:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:29:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:29:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:29:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:29:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:29:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:29:16 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 09:29:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:29:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.019m, effective arm-mount z=0.841m (base_body_z=-0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018840m	[env.py: 870]
+05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:29:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72973325  0.33636436 -0.01884042] yaw=170.1deg	[env.py: 1019]
+05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9446214   0.66461596 -0.01884042] yaw=-169.1deg	[env.py: 1019]
+05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80183205  0.58773073 -0.01884042] yaw=-179.7deg	[env.py: 1019]
+05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:29:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.1ms, total=97.2ms	[env.py: 1075]
+05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.730, 0.336, -0.019)	[env.py: 1079]
+05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.1 deg	[env.py: 1082]
+05/10 09:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/10 09:29:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:29:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:29:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:29:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:29:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:29:16 INFO: [Worker 0] Worker 0 house 1 episode 137/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:29:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:29:16 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 09:29:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:29:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:29:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.552s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:29:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.552[m] 90.976[deg]	[grasp_sample.py: 539]
+05/10 09:29:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:29:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:29:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:29:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:29:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:29:26 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.91s (batch: 4.36s, save: 9.54s)	[pipeline.py: 300]
+05/10 09:29:27 INFO: [Worker 0] [PROFILE] Episode 143 house 1 success=True episode_total=0.65s:
+  episode_total: mean=219.29s, total=219.29s, count=1, min=219290.9ms, max=219290.9ms
+  sensor_polling: mean=552.8ms, total=163.63s, count=296, min=462.9ms, max=930.7ms
+  save_trajectories: mean=9.54s, total=9.54s, count=1, min=9544.5ms, max=9544.5ms
+  physics_step: mean=29.9ms, total=8.84s, count=296, min=18.5ms, max=103.8ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4363.4ms, max=4363.4ms
+  task_sampling: mean=651.3ms, total=651.3ms, count=1, min=651.3ms, max=651.3ms
+  task_specific_sample: mean=646.8ms, total=646.8ms, count=1, min=646.8ms, max=646.8ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=680.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  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 09:29:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:29:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:29:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:29:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:29:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:29:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:29:29 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 09:29:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:29:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020654m	[env.py: 870]
+05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:29:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05817581  1.08777258  0.0206544 ] yaw=-146.7deg	[env.py: 1019]
+05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08797061  1.05954983  0.0206544 ] yaw=-147.1deg	[env.py: 1019]
+05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.73415053  0.02803513  0.0206544 ] yaw=160.0deg	[env.py: 1019]
+05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:29:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=237.9ms, total=237.9ms	[env.py: 1075]
+05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.058, 1.088, 0.021)	[env.py: 1079]
+05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.7 deg	[env.py: 1082]
+05/10 09:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m	[env.py: 1086]
+05/10 09:29:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:29:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:29:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:29:29 INFO: [Worker 0] Worker 0 house 1 episode 144/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:29:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:29:29 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 09:29:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:29:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:29:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.731s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:29:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.459[m] 87.493[deg]	[grasp_sample.py: 539]
+05/10 09:29:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:29:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:29:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:29:34 INFO: [Worker 0] Worker 0 house 1 episode 135 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:30:02 INFO: [Worker 0] Saved videos eagerly for episode 99 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:30:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 09:30:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:30:07 INFO: [Worker 0] Worker 0 house 1 episode 140 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:30:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:30:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:30:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.46s (batch: 4.92s, save: 11.54s)	[pipeline.py: 300]
+05/10 09:30:19 INFO: [Worker 0] [PROFILE] Episode 135 house 1 success=True episode_total=0.57s:
+  episode_total: mean=268.45s, total=268.45s, count=1, min=268449.0ms, max=268449.0ms
+  sensor_polling: mean=563.0ms, total=168.90s, count=300, min=452.6ms, max=983.6ms
+  save_trajectories: mean=11.54s, total=11.54s, count=1, min=11541.7ms, max=11541.7ms
+  physics_step: mean=30.0ms, total=9.00s, count=300, min=15.1ms, max=140.0ms
+  save_batch_prep: mean=4.92s, total=4.92s, count=1, min=4920.4ms, max=4920.4ms
+  task_sampling: mean=565.5ms, total=565.5ms, count=1, min=565.5ms, max=565.5ms
+  task_specific_sample: mean=561.0ms, total=561.0ms, count=1, min=561.0ms, max=561.0ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=552.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 09:30:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:30:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:30:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:30:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:30:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:30:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:30:21 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 09:30:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:30:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034267m	[env.py: 870]
+05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:30:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92396619  0.67027949  0.03426667] yaw=-174.5deg	[env.py: 1019]
+05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.97775768  0.58369419  0.03426667] yaw=-169.2deg	[env.py: 1019]
+05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:30:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=425.6ms, total=425.7ms	[env.py: 1075]
+05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.924, 0.670, 0.034)	[env.py: 1079]
+05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.5 deg	[env.py: 1082]
+05/10 09:30:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
+05/10 09:30:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:30:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:30:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:30:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:30:22 INFO: [Worker 0] Worker 0 house 1 episode 136/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:30:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:30:22 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 09:30:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:30:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:30:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:30:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:30:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.010s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:30:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.391[m] 98.581[deg]	[grasp_sample.py: 539]
+05/10 09:30:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:30:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:30:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]