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+version https://git-lfs.github.com/spec/v1
+oid sha256:145d1474bf9f79e5569cc311038b708968306bfa1481fac7953566d260b170d6
+size 119155
diff --git a/fridge_7/episode_00000116_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_7/episode_00000116_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b6b730d6f2d5971ac8ed2a6ed344b1d8e4fa035d
--- /dev/null
+++ b/fridge_7/episode_00000116_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12add6245788c287f55d14d992a9df703238a7bd52e2ca9e87c1c326992b2d85
+size 404433
diff --git a/fridge_7/running_log.log b/fridge_7/running_log.log
index 23cbbce895cbba3261c54ccbf3813fa845321aac..8a64dcddff162623a954eead7da32e19ce89e502 100644
--- a/fridge_7/running_log.log
+++ b/fridge_7/running_log.log
@@ -40366,3 +40366,4667 @@
 	[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]
+05/10 09:30:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:30:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:30:38 INFO: [Worker 0] Saved videos eagerly for episode 104 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:30:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 09:30:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:30:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:30:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:30:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:30:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:30:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.28s (batch: 5.25s, save: 9.03s)	[pipeline.py: 300]
+05/10 09:30:53 INFO: [Worker 0] [PROFILE] Episode 140 house 1 success=True episode_total=0.90s:
+  episode_total: mean=223.21s, total=223.21s, count=1, min=223206.4ms, max=223206.4ms
+  sensor_polling: mean=543.6ms, total=163.09s, count=300, min=461.8ms, max=948.1ms
+  save_trajectories: mean=9.03s, total=9.03s, count=1, min=9029.8ms, max=9029.8ms
+  physics_step: mean=27.2ms, total=8.16s, count=300, min=19.8ms, max=79.2ms
+  save_batch_prep: mean=5.25s, total=5.25s, count=1, min=5252.7ms, max=5252.7ms
+  task_sampling: mean=902.6ms, total=902.6ms, count=1, min=902.6ms, max=902.6ms
+  task_specific_sample: mean=898.8ms, total=898.8ms, count=1, min=898.8ms, max=898.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=400.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 09:30:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:30:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:30:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:30:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:30:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:30:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:30:55 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 09:30:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:30:55 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 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045118m	[env.py: 870]
+05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:30:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 132.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71312731  0.66454206 -0.04511816] yaw=-161.4deg	[env.py: 1019]
+05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.10103757  1.12893337 -0.04511816] yaw=-126.4deg	[env.py: 1019]
+05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89055999  0.05501221 -0.04511816] yaw=152.3deg	[env.py: 1019]
+05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:30:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.2ms, total=156.3ms	[env.py: 1075]
+05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.713, 0.665, -0.045)	[env.py: 1079]
+05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.4 deg	[env.py: 1082]
+05/10 09:30:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
+05/10 09:30:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:30:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:30:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:30:55 INFO: [Worker 0] Worker 0 house 1 episode 141/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:30:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:30:55 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 09:30:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:30:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:30:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.815s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:30:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.587[m] 94.106[deg]	[grasp_sample.py: 539]
+05/10 09:30:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:30:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:30:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:31:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:31:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:31:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:32:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:32:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:32:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:32:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:32:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:32:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:32:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:32:20 INFO: [Worker 0] Worker 0 house 1 episode 137 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:32:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:32:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:32:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:32:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:32:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:32:26 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 09:32:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:32:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.102s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:32:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:32:30 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.362s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:32:30 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.249[deg]	[grasp_sample.py: 539]
+05/10 09:32:31 ERROR: [Worker 0] Worker 0 house 1 episode 144 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 09:32:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:32:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:32:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:32:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:32:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:32:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:32:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:32:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:32:33 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 09:32:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:32:33 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 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015592m	[env.py: 870]
+05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:32:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97808853  1.29034508 -0.01559199] yaw=-137.9deg	[env.py: 1019]
+05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71108689  0.52431785 -0.01559199] yaw=-177.7deg	[env.py: 1019]
+05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76964511  0.3728274  -0.01559199] yaw=183.5deg	[env.py: 1019]
+05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:32:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.5ms, total=178.6ms	[env.py: 1075]
+05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.978, 1.290, -0.016)	[env.py: 1079]
+05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.9 deg	[env.py: 1082]
+05/10 09:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
+05/10 09:32:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:32:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:32:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:32:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:32:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:32:33 INFO: [Worker 0] Worker 0 house 1 episode 145/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:32:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:32:34 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 09:32:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:32:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:32:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.733s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 09:32:35 ERROR: [Worker 0] Worker 0 house 1 episode 145 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 09:32:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:32:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:32:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:32:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:32:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:32:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:32:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:32:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:32:37 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 09:32:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:32:37 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 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047456m	[env.py: 870]
+05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:32:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69565619  0.45429715 -0.04745551] yaw=181.9deg	[env.py: 1019]
+05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99527813  0.42617524 -0.04745551] yaw=173.4deg	[env.py: 1019]
+05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85730974  0.1504656  -0.04745551] yaw=152.8deg	[env.py: 1019]
+05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:32:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.4ms, total=182.5ms	[env.py: 1075]
+05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.696, 0.454, -0.047)	[env.py: 1079]
+05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.9 deg	[env.py: 1082]
+05/10 09:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m	[env.py: 1086]
+05/10 09:32:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:32:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:32:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:32:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:32:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:32:38 INFO: [Worker 0] Worker 0 house 1 episode 146/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:32:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:32:38 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 09:32:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:32:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:32:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.551s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:32:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.552[m] 83.907[deg]	[grasp_sample.py: 539]
+05/10 09:32:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:32:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:32:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:32:49 INFO: [Worker 0] Saved videos eagerly for episode 102 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:32:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 09:32:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:33:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:33:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:33:06 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.42s (batch: 4.86s, save: 11.57s)	[pipeline.py: 300]
+05/10 09:33:06 INFO: [Worker 0] [PROFILE] Episode 137 house 1 success=True episode_total=0.48s:
+  episode_total: mean=230.82s, total=230.82s, count=1, min=230823.2ms, max=230823.2ms
+  sensor_polling: mean=563.6ms, total=169.09s, count=300, min=466.5ms, max=1133.0ms
+  save_trajectories: mean=11.57s, total=11.57s, count=1, min=11568.9ms, max=11568.9ms
+  physics_step: mean=30.5ms, total=9.15s, count=300, min=20.1ms, max=136.4ms
+  save_batch_prep: mean=4.86s, total=4.86s, count=1, min=4855.9ms, max=4855.9ms
+  task_sampling: mean=484.7ms, total=484.7ms, count=1, min=484.7ms, max=484.7ms
+  task_specific_sample: mean=481.0ms, total=481.0ms, count=1, min=481.0ms, max=481.0ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=424.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 09:33:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:33:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:33:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:33:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:33:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:33:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:33:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:33:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:33:08 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 09:33:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:33:08 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 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004226m	[env.py: 870]
+05/10 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:33:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91641442  0.53284303 -0.00422569] yaw=-170.9deg	[env.py: 1019]
+05/10 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83393706  0.36567308 -0.00422569] yaw=177.3deg	[env.py: 1019]
+05/10 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:33:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=461.1ms, total=461.2ms	[env.py: 1075]
+05/10 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.916, 0.533, -0.004)	[env.py: 1079]
+05/10 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.9 deg	[env.py: 1082]
+05/10 09:33:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.788m	[env.py: 1086]
+05/10 09:33:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:33:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:33:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:33:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:33:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:33:09 INFO: [Worker 0] Worker 0 house 1 episode 138/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:33:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:33:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 09:33:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:33:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:33:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.601s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:33:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.371[m] 93.064[deg]	[grasp_sample.py: 539]
+05/10 09:33:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:33:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:33:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:33:29 INFO: [Worker 0] Worker 0 house 1 episode 136 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:33:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:33:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:33:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:33:55 INFO: [Worker 0] Saved videos eagerly for episode 100 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:33:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 09:33:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:34:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:34:02 INFO: [Worker 0] Worker 0 house 1 episode 141 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:34:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:34:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:34:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:34:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.79s (batch: 5.16s, save: 9.63s)	[pipeline.py: 300]
+05/10 09:34:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:34:11 INFO: [Worker 0] [PROFILE] Episode 136 house 1 success=True episode_total=0.79s:
+  episode_total: mean=230.05s, total=230.05s, count=1, min=230045.1ms, max=230045.1ms
+  sensor_polling: mean=571.6ms, total=171.48s, count=300, min=463.0ms, max=1605.0ms
+  save_trajectories: mean=9.63s, total=9.63s, count=1, min=9627.1ms, max=9627.1ms
+  physics_step: mean=30.6ms, total=9.19s, count=300, min=18.6ms, max=137.6ms
+  save_batch_prep: mean=5.16s, total=5.16s, count=1, min=5164.1ms, max=5164.1ms
+  task_sampling: mean=792.5ms, total=792.5ms, count=1, min=792.5ms, max=792.5ms
+  task_specific_sample: mean=786.8ms, total=786.8ms, count=1, min=786.8ms, max=786.8ms
+  scene_randomize: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms
+  mj_forward_sync: mean=561.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=22.1us, 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 09:34:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:34:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:34:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:34:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:34:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:34:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:34:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 09:34:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:34:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039373m	[env.py: 870]
+05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:34:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90797191  0.8548314  -0.0393734 ] yaw=-162.6deg	[env.py: 1019]
+05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96116536  0.82980875 -0.0393734 ] yaw=-160.4deg	[env.py: 1019]
+05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.97326435  0.39354189 -0.0393734 ] yaw=167.3deg	[env.py: 1019]
+05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:34:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.3ms, total=211.4ms	[env.py: 1075]
+05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.908, 0.855, -0.039)	[env.py: 1079]
+05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.6 deg	[env.py: 1082]
+05/10 09:34:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
+05/10 09:34:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:34:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:34:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:34:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:34:13 INFO: [Worker 0] Worker 0 house 1 episode 137/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:34:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:34:13 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 09:34:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:34:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:34:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.550s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:34:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.477[m] 95.201[deg]	[grasp_sample.py: 539]
+05/10 09:34:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:34:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:34:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:34:24 INFO: [Worker 0] Saved videos eagerly for episode 105 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:34:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 09:34:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:34:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:34:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:34:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.64s (batch: 4.55s, save: 10.08s)	[pipeline.py: 300]
+05/10 09:34:40 INFO: [Worker 0] [PROFILE] Episode 141 house 1 success=True episode_total=0.49s:
+  episode_total: mean=225.32s, total=225.32s, count=1, min=225320.1ms, max=225320.1ms
+  sensor_polling: mean=575.0ms, total=172.51s, count=300, min=467.8ms, max=1519.1ms
+  save_trajectories: mean=10.08s, total=10.08s, count=1, min=10082.2ms, max=10082.2ms
+  physics_step: mean=30.5ms, total=9.14s, count=300, min=17.3ms, max=148.5ms
+  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4552.9ms, max=4552.9ms
+  task_sampling: mean=487.8ms, total=487.8ms, count=1, min=487.8ms, max=487.8ms
+  task_specific_sample: mean=483.6ms, total=483.6ms, count=1, min=483.6ms, max=483.6ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=473.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.7us, 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 09:34:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:34:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:34:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:34:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:34:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:34:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:34:42 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 09:34:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:34:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040600m	[env.py: 870]
+05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:34:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69974809  0.05986591 -0.04059987] yaw=152.2deg	[env.py: 1019]
+05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9256714   0.7681008  -0.04059987] yaw=-152.1deg	[env.py: 1019]
+05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90747678  0.39461935 -0.04059987] yaw=184.4deg	[env.py: 1019]
+05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:34:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.8ms, total=114.9ms	[env.py: 1075]
+05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.700, 0.060, -0.041)	[env.py: 1079]
+05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.2 deg	[env.py: 1082]
+05/10 09:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
+05/10 09:34:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:34:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:34:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:34:42 INFO: [Worker 0] Worker 0 house 1 episode 142/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:34:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:34:42 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 09:34:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:34:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:34:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.793s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:34:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.651[m] 94.555[deg]	[grasp_sample.py: 539]
+05/10 09:34:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:34:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:34:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:35:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:35:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:35:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:35:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:35:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:35:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:35:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:35:33 INFO: [Worker 0] Worker 0 house 1 episode 146 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:35:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:35:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:35:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:35:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:35:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:35:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:35:40 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 09:35:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:35:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:35:41 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.429s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:35:41 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.408[deg]	[grasp_sample.py: 539]
+05/10 09:35:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:35:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:35:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:35:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:36:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:36:02 INFO: [Worker 0] Saved videos eagerly for episode 94 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:36:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 09:36:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:36:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:36:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:36:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:36:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:36:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:36:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:36:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.89s (batch: 5.27s, save: 10.62s)	[pipeline.py: 300]
+05/10 09:36:19 INFO: [Worker 0] [PROFILE] Episode 146 house 1 success=True episode_total=1.49s:
+  episode_total: mean=135.53s, total=406.60s, count=3, min=2292.2ms, max=221887.2ms
+  sensor_polling: mean=546.4ms, total=308.72s, count=565, min=457.5ms, max=1100.7ms
+  physics_step: mean=27.6ms, total=15.59s, count=565, min=16.7ms, max=81.3ms
+  save_trajectories: mean=10.62s, total=10.62s, count=1, min=10621.8ms, max=10621.8ms
+  save_batch_prep: mean=5.27s, total=5.27s, count=1, min=5268.1ms, max=5268.1ms
+  task_sampling: mean=497.2ms, total=1.49s, count=3, min=453.6ms, max=554.9ms
+  task_specific_sample: mean=493.1ms, total=1.48s, count=3, min=450.1ms, max=550.5ms
+  scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.3ms, max=2.9ms
+  mj_forward_sync: mean=564.5us, total=1.7ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=17.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 09:36:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:36:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:36:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:36:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:36:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:36:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:36:21 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 09:36:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:36:21 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 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036454m	[env.py: 870]
+05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:36:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82383296  0.99405417  0.03645379] yaw=-138.6deg	[env.py: 1019]
+05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91690636  0.92686009  0.03645379] yaw=-157.1deg	[env.py: 1019]
+05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.84291668  0.09889321  0.03645379] yaw=156.5deg	[env.py: 1019]
+05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:36:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=266.0ms, total=266.1ms	[env.py: 1075]
+05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.824, 0.994, 0.036)	[env.py: 1079]
+05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.6 deg	[env.py: 1082]
+05/10 09:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m	[env.py: 1086]
+05/10 09:36:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:36:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:36:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:36:22 INFO: [Worker 0] Worker 0 house 1 episode 147/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:36:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:36:22 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 09:36:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:36:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:36:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.873s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:36:24 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.620[m] 93.835[deg]	[grasp_sample.py: 539]
+05/10 09:36:25 ERROR: [Worker 0] Worker 0 house 1 episode 147 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 09:36:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:36:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:36:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:36:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:36:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:36:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:36:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 09:36:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:36:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049411m	[env.py: 870]
+05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:36:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 131.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.12019212  1.13633248  0.04941085] yaw=-124.4deg	[env.py: 1019]
+05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68665027  0.12830798  0.04941085] yaw=166.2deg	[env.py: 1019]
+05/10 09:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79590286  0.58029618  0.04941085] yaw=-178.6deg	[env.py: 1019]
+05/10 09:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:36:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.2ms, total=140.2ms	[env.py: 1075]
+05/10 09:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.120, 1.136, 0.049)	[env.py: 1079]
+05/10 09:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.4 deg	[env.py: 1082]
+05/10 09:36:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
+05/10 09:36:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:36:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:36:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:36:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:36:28 INFO: [Worker 0] Worker 0 house 1 episode 138 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:36:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:36:28 INFO: [Worker 0] Worker 0 house 1 episode 148/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:36:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:36:28 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 09:36:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:36:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:36:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.869s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:36:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.447[m] 87.916[deg]	[grasp_sample.py: 539]
+05/10 09:36:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:36:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:36:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:36:58 INFO: [Worker 0] Saved videos eagerly for episode 103 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:36:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 09:36:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:37:11 INFO: [Worker 0] Worker 0 house 1 episode 137 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:37:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:37:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:37:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.61s (batch: 5.23s, save: 10.38s)	[pipeline.py: 300]
+05/10 09:37:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:37:14 INFO: [Worker 0] [PROFILE] Episode 138 house 1 success=True episode_total=0.77s:
+  episode_total: mean=245.66s, total=245.66s, count=1, min=245660.1ms, max=245660.1ms
+  sensor_polling: mean=556.7ms, total=167.01s, count=300, min=470.0ms, max=1118.4ms
+  save_trajectories: mean=10.38s, total=10.38s, count=1, min=10378.4ms, max=10378.4ms
+  physics_step: mean=26.3ms, total=7.90s, count=300, min=19.5ms, max=94.6ms
+  save_batch_prep: mean=5.23s, total=5.23s, count=1, min=5231.4ms, max=5231.4ms
+  task_sampling: mean=765.9ms, total=765.9ms, count=1, min=765.9ms, max=765.9ms
+  task_specific_sample: mean=761.5ms, total=761.5ms, count=1, min=761.5ms, max=761.5ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=554.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.2us, 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 09:37:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:37:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:37:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:37:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:37:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:37:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:37:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:37:16 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 09:37:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:37:16 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 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033019m	[env.py: 870]
+05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:37:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92750076  0.27208481  0.03301948] yaw=165.6deg	[env.py: 1019]
+05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02290224  0.66210193  0.03301948] yaw=-163.1deg	[env.py: 1019]
+05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.03005686  1.08421697  0.03301948] yaw=-126.8deg	[env.py: 1019]
+05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:37:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.4ms, total=183.4ms	[env.py: 1075]
+05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.928, 0.272, 0.033)	[env.py: 1079]
+05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.6 deg	[env.py: 1082]
+05/10 09:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/10 09:37:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:37:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:37:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:37:16 INFO: [Worker 0] Worker 0 house 1 episode 139/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:37:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:37:16 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 09:37:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:37:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:37:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.540s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:37:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.345[m] 91.448[deg]	[grasp_sample.py: 539]
+05/10 09:37:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:37:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:37:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:37:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:37:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:37:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:37:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:37:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:37:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:37:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:37:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:37:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:37:30 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 09:37:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:37:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:37:31 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.835s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:37:31 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.150[deg]	[grasp_sample.py: 539]
+05/10 09:37:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:37:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:37:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:37:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:37:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:37:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:37:42 INFO: [Worker 0] Saved videos eagerly for episode 101 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:37:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 09:37:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:37:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:37:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:37:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:37:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:37:58 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.10s (batch: 4.86s, save: 11.24s)	[pipeline.py: 300]
+05/10 09:37:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:37:59 INFO: [Worker 0] [PROFILE] Episode 137 house 1 success=True episode_total=0.58s:
+  episode_total: mean=225.83s, total=225.83s, count=1, min=225833.6ms, max=225833.6ms
+  sensor_polling: mean=551.0ms, total=165.30s, count=300, min=459.2ms, max=1098.6ms
+  save_trajectories: mean=11.24s, total=11.24s, count=1, min=11239.3ms, max=11239.3ms
+  physics_step: mean=27.2ms, total=8.16s, count=300, min=16.2ms, max=147.3ms
+  save_batch_prep: mean=4.86s, total=4.86s, count=1, min=4861.7ms, max=4861.7ms
+  task_sampling: mean=576.3ms, total=576.3ms, count=1, min=576.3ms, max=576.3ms
+  task_specific_sample: mean=571.7ms, total=571.7ms, count=1, min=571.7ms, max=571.7ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=448.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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 09:38:00 INFO: [Worker 0] Worker 0 house 1 episode 142 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 09:38:00 INFO: [Worker 0] [PROFILE] Episode 142 house 1 success=False episode_total=0.43s:
+  episode_total: mean=198.00s, total=198.00s, count=1, min=198004.4ms, max=198004.4ms
+  sensor_polling: mean=559.0ms, total=167.69s, count=300, min=478.9ms, max=992.5ms
+  physics_step: mean=28.9ms, total=8.66s, count=300, min=16.7ms, max=132.2ms
+  task_sampling: mean=429.9ms, total=429.9ms, count=1, min=429.9ms, max=429.9ms
+  task_specific_sample: mean=425.8ms, total=425.8ms, count=1, min=425.8ms, max=425.8ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=460.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 09:38:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:38:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:38:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:38:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:38:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:38:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:38:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:38:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:38:00 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 09:38:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:38:00 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 09:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035561m	[env.py: 870]
+05/10 09:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:38:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07037951  0.82830414  0.03556096] yaw=-152.7deg	[env.py: 1019]
+05/10 09:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.16289784  1.00559641  0.03556096] yaw=-129.3deg	[env.py: 1019]
+05/10 09:38:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79035809  0.42593699  0.03556096] yaw=180.6deg	[env.py: 1019]
+05/10 09:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:38:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=191.6ms, total=191.6ms	[env.py: 1075]
+05/10 09:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.070, 0.828, 0.036)	[env.py: 1079]
+05/10 09:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.7 deg	[env.py: 1082]
+05/10 09:38:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.721m	[env.py: 1086]
+05/10 09:38:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:38:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:38:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:38:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:38:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:38:01 INFO: [Worker 0] Worker 0 house 1 episode 138/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:38:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:38:01 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 09:38:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:38:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:38:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:38:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:38:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:38:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:38:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:38:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:38:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:38:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:38:02 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 09:38:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:38:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003327m	[env.py: 870]
+05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:38:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0354662   0.81418115 -0.00332674] yaw=-143.2deg	[env.py: 1019]
+05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:38:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.192s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:38:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.318[m] 93.718[deg]	[grasp_sample.py: 539]
+05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91370775  0.71535657 -0.00332674] yaw=-165.1deg	[env.py: 1019]
+05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:38:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=479.5ms, total=479.6ms	[env.py: 1075]
+05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.035, 0.814, -0.003)	[env.py: 1079]
+05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.2 deg	[env.py: 1082]
+05/10 09:38:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.745m	[env.py: 1086]
+05/10 09:38:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:38:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:38:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:38:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:38:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:38:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:38:03 INFO: [Worker 0] Worker 0 house 1 episode 143/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:38:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:38:03 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 09:38:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:38:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:38:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:38:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:38:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.171s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:38:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.288[m] 75.309[deg]	[grasp_sample.py: 539]
+05/10 09:38:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:38:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:38:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:38:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:38:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:38:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:38:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:38:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:38:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:38:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:38:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:38:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:39:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:39:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:39:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:39:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:39:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:39:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:39:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:39:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:39:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:39:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:39:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:39:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:39:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:39:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:39:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:39:13 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 09:39:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:39:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:39:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:39:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:39:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:39:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:39:16 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 09:39:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:39:16 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.373s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:39:16 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.118[m] 3.109[deg]	[grasp_sample.py: 539]
+05/10 09:39:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:39:17 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.018s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:39:17 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.603[deg]	[grasp_sample.py: 539]
+05/10 09:39:18 ERROR: [Worker 0] Worker 0 house 1 episode 148 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 09:39:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:39:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:39:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:39:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:39:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:39:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:39:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:39:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:39:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:39:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:39:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:39:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 09:39:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:39:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003868m	[env.py: 870]
+05/10 09:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:39:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:39:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84885519  0.4186167   0.00386792] yaw=183.5deg	[env.py: 1019]
+05/10 09:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.99265981  1.16508964  0.00386792] yaw=-145.0deg	[env.py: 1019]
+05/10 09:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:39:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=286.3ms, total=286.4ms	[env.py: 1075]
+05/10 09:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.849, 0.419, 0.004)	[env.py: 1079]
+05/10 09:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.5 deg	[env.py: 1082]
+05/10 09:39:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
+05/10 09:39:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:39:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:39:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:39:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:39:21 INFO: [Worker 0] Worker 0 house 1 episode 149/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:39:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:39:21 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 09:39:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:39:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:39:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.833s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:39:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.444[m] 94.236[deg]	[grasp_sample.py: 539]
+05/10 09:39:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:39:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:39:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:39:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:39:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:39:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:39:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:39:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:39:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:39:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:40:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:40:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:40:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:40:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:40:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:40:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:40:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:40:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:40:48 INFO: [Worker 0] Worker 0 house 1 episode 143 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:40:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:40:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:40:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:40:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:40:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:40:52 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 09:40:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:40:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 70 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:40:53 INFO: [Worker 0] Worker 0 house 1 episode 138 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:40:55 INFO: [Worker 0] Feasibility-checked 70 grasps in 3.107s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:40:55 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.051[m] 8.598[deg]	[grasp_sample.py: 539]
+05/10 09:40:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:40:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:40:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:41:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:41:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:41:13 INFO: [Worker 0] Saved videos eagerly for episode 106 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:41:13 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 09:41:13 INFO: [Worker 0] Preparing episode data: 278 timesteps	[save_utils.py: 278]
+05/10 09:41:15 INFO: [Worker 0] Worker 0 house 1 episode 139 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:41:19 INFO: [Worker 0] Saved videos eagerly for episode 102 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:41:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 09:41:19 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/10 09:41:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:41:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:41:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.02s (batch: 4.17s, save: 9.85s)	[pipeline.py: 300]
+05/10 09:41:27 INFO: [Worker 0] [PROFILE] Episode 143 house 1 success=True episode_total=0.81s:
+  episode_total: mean=205.58s, total=205.58s, count=1, min=205579.2ms, max=205579.2ms
+  sensor_polling: mean=549.1ms, total=152.11s, count=277, min=471.5ms, max=1075.3ms
+  save_trajectories: mean=9.85s, total=9.85s, count=1, min=9854.6ms, max=9854.6ms
+  physics_step: mean=27.7ms, total=7.67s, count=277, min=19.8ms, max=82.1ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4168.9ms, max=4168.9ms
+  task_sampling: mean=805.4ms, total=805.4ms, count=1, min=805.4ms, max=805.4ms
+  task_specific_sample: mean=800.8ms, total=800.8ms, count=1, min=800.8ms, max=800.8ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=649.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=23.7us, 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 09:41:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:41:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:41:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:41:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:41:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:41:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:41:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:41:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:41:29 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 09:41:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:41:29 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 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039870m	[env.py: 870]
+05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:41:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.09737504  0.92472694  0.03986952] yaw=-139.6deg	[env.py: 1019]
+05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74949539  0.47887117  0.03986952] yaw=182.7deg	[env.py: 1019]
+05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98173687  0.70163964  0.03986952] yaw=-163.5deg	[env.py: 1019]
+05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:41:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=226.8ms, total=226.8ms	[env.py: 1075]
+05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.097, 0.925, 0.040)	[env.py: 1079]
+05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.6 deg	[env.py: 1082]
+05/10 09:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.750m	[env.py: 1086]
+05/10 09:41:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:41:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:41:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:41:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:41:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:41:30 INFO: [Worker 0] Worker 0 house 1 episode 144/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:41:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:41:30 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 09:41:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:41:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:41:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.580s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:41:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.335[m] 93.189[deg]	[grasp_sample.py: 539]
+05/10 09:41:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:41:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:41:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:41:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:41:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:41:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.55s (batch: 5.28s, save: 10.27s)	[pipeline.py: 300]
+05/10 09:41:35 INFO: [Worker 0] [PROFILE] Episode 138 house 1 success=True episode_total=0.49s:
+  episode_total: mean=214.52s, total=214.52s, count=1, min=214516.5ms, max=214516.5ms
+  sensor_polling: mean=555.8ms, total=158.97s, count=286, min=475.4ms, max=1104.0ms
+  save_trajectories: mean=10.27s, total=10.27s, count=1, min=10265.1ms, max=10265.1ms
+  physics_step: mean=27.6ms, total=7.89s, count=286, min=19.7ms, max=68.4ms
+  save_batch_prep: mean=5.28s, total=5.28s, count=1, min=5280.7ms, max=5280.7ms
+  task_sampling: mean=490.4ms, total=490.4ms, count=1, min=490.4ms, max=490.4ms
+  task_specific_sample: mean=485.5ms, total=485.5ms, count=1, min=485.5ms, max=485.5ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=625.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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 09:41:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:41:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:41:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:41:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:41:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:41:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:41:37 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 09:41:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:41:37 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 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029637m	[env.py: 870]
+05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:41:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.76393618  0.17676484  0.0296374 ] yaw=162.9deg	[env.py: 1019]
+05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:41:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=234.0ms, total=234.0ms	[env.py: 1075]
+05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.764, 0.177, 0.030)	[env.py: 1079]
+05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.9 deg	[env.py: 1082]
+05/10 09:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m	[env.py: 1086]
+05/10 09:41:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:41:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:41:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:41:38 INFO: [Worker 0] Worker 0 house 1 episode 139/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:41:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:41:38 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 09:41:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:41:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:41:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.776s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:41:38 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.571[m] 93.307[deg]	[grasp_sample.py: 539]
+05/10 09:41:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:41:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:41:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:41:40 INFO: [Worker 0] Saved videos eagerly for episode 104 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:41:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 09:41:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:41:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:41:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:41:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.76s (batch: 4.31s, save: 9.45s)	[pipeline.py: 300]
+05/10 09:41:54 INFO: [Worker 0] [PROFILE] Episode 139 house 1 success=True episode_total=0.55s:
+  episode_total: mean=278.35s, total=278.35s, count=1, min=278353.6ms, max=278353.6ms
+  sensor_polling: mean=561.9ms, total=168.56s, count=300, min=465.0ms, max=970.6ms
+  save_trajectories: mean=9.45s, total=9.45s, count=1, min=9446.9ms, max=9446.9ms
+  physics_step: mean=29.0ms, total=8.70s, count=300, min=17.6ms, max=107.5ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4309.0ms, max=4309.0ms
+  task_sampling: mean=553.7ms, total=553.7ms, count=1, min=553.7ms, max=553.7ms
+  task_specific_sample: mean=549.7ms, total=549.7ms, count=1, min=549.7ms, max=549.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=457.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.0us, 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 09:41:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:41:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:41:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:41:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:41:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:41:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:41:56 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 09:41:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:41:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.010824m	[env.py: 870]
+05/10 09:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:41:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77378134  0.0271508  -0.01082401] yaw=159.3deg	[env.py: 1019]
+05/10 09:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7473059   0.79713215 -0.01082401] yaw=-152.8deg	[env.py: 1019]
+05/10 09:41:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06437758  0.88476164 -0.01082401] yaw=-146.5deg	[env.py: 1019]
+05/10 09:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:41:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=747.7ms, total=747.8ms	[env.py: 1075]
+05/10 09:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.774, 0.027, -0.011)	[env.py: 1079]
+05/10 09:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.3 deg	[env.py: 1082]
+05/10 09:41:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
+05/10 09:41:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:41:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:41:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:41:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:41:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:41:57 INFO: [Worker 0] Worker 0 house 1 episode 140/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:41:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:41:57 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 09:41:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:41:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:42:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.700s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:42:00 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.585[m] 85.134[deg]	[grasp_sample.py: 539]
+05/10 09:42:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:42:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:42:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:42:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:42:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:42:19 INFO: [Worker 0] Worker 0 house 1 episode 149 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:42:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:42:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:42:54 INFO: [Worker 0] Saved videos eagerly for episode 95 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:42:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 09:42:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:43:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:43:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:43:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:43:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:43:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.19s (batch: 5.55s, save: 9.64s)	[pipeline.py: 300]
+05/10 09:43:10 INFO: [Worker 0] [PROFILE] Episode 149 house 1 success=True episode_total=1.71s:
+  episode_total: mean=134.95s, total=404.84s, count=3, min=4183.2ms, max=229711.7ms
+  sensor_polling: mean=552.3ms, total=304.34s, count=551, min=458.0ms, max=1138.4ms
+  physics_step: mean=28.1ms, total=15.50s, count=551, min=19.5ms, max=78.3ms
+  save_trajectories: mean=9.64s, total=9.64s, count=1, min=9638.8ms, max=9638.8ms
+  save_batch_prep: mean=5.55s, total=5.55s, count=1, min=5553.1ms, max=5553.1ms
+  task_sampling: mean=570.0ms, total=1.71s, count=3, min=476.0ms, max=645.9ms
+  task_specific_sample: mean=566.2ms, total=1.70s, count=3, min=472.3ms, max=640.9ms
+  scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.4ms, max=3.3ms
+  mj_forward_sync: mean=538.6us, total=1.6ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=19.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 09:43:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:43:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:43:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:43:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:43:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:43:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:43:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:43:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:43:12 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 09:43:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:43:12 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 09:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.019317m	[env.py: 870]
+05/10 09:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:43:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72661116  0.50750339 -0.01931665] yaw=-183.1deg	[env.py: 1019]
+05/10 09:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09239653  1.16799333 -0.01931665] yaw=-131.0deg	[env.py: 1019]
+05/10 09:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:43:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92085612  1.17598708 -0.01931665] yaw=-136.4deg	[env.py: 1019]
+05/10 09:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:43:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=340.7ms, total=340.7ms	[env.py: 1075]
+05/10 09:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.508, -0.019)	[env.py: 1079]
+05/10 09:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.1 deg	[env.py: 1082]
+05/10 09:43:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
+05/10 09:43:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:43:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:43:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:43:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:43:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:43:13 INFO: [Worker 0] Worker 0 house 1 episode 150/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:43:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.149s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:43:13 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 09:43:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:43:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:43:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:43:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.842s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:43:14 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.520[m] 87.400[deg]	[grasp_sample.py: 539]
+05/10 09:43:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:43:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:43:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:43:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:43:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:44:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:44:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:44:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:44:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:44:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:44:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:44:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:44:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:44:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:44:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:44:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:44:24 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 09:44:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:44:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:44:25 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.585s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:44:25 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.301[deg]	[grasp_sample.py: 539]
+05/10 09:44:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:44:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:44:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:44:27 INFO: [Worker 0] Worker 0 house 1 episode 144 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:44:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:44:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:44:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:44:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:44:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:44:55 INFO: [Worker 0] Saved videos eagerly for episode 107 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:44:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 09:44:55 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
+05/10 09:45:08 INFO: [Worker 0] Worker 0 house 1 episode 140 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:45:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:45:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:45:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.69s (batch: 4.35s, save: 9.35s)	[pipeline.py: 300]
+05/10 09:45:10 INFO: [Worker 0] [PROFILE] Episode 144 house 1 success=True episode_total=0.65s:
+  episode_total: mean=220.63s, total=220.63s, count=1, min=220628.9ms, max=220628.9ms
+  sensor_polling: mean=567.1ms, total=163.89s, count=289, min=467.7ms, max=1127.6ms
+  save_trajectories: mean=9.35s, total=9.35s, count=1, min=9348.0ms, max=9348.0ms
+  physics_step: mean=28.8ms, total=8.33s, count=289, min=19.9ms, max=93.3ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4345.1ms, max=4345.1ms
+  task_sampling: mean=649.3ms, total=649.3ms, count=1, min=649.3ms, max=649.3ms
+  task_specific_sample: mean=644.8ms, total=644.8ms, count=1, min=644.8ms, max=644.8ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=639.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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 09:45:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:45:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:45:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:45:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:45:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:45:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:45:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:45:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:45:11 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 09:45:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:45:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014776m	[env.py: 870]
+05/10 09:45:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:45:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78917369  0.55068151  0.01477554] yaw=-176.2deg	[env.py: 1019]
+05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07418468  1.25813855  0.01477554] yaw=-126.2deg	[env.py: 1019]
+05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:45:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.6ms, total=187.6ms	[env.py: 1075]
+05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.789, 0.551, 0.015)	[env.py: 1079]
+05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.2 deg	[env.py: 1082]
+05/10 09:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/10 09:45:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:45:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:45:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:45:12 INFO: [Worker 0] Worker 0 house 1 episode 145/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:45:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:45:12 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 09:45:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:45:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:45:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:45:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.496[m] 95.961[deg]	[grasp_sample.py: 539]
+05/10 09:45:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:45:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:45:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:45:19 INFO: [Worker 0] Worker 0 house 1 episode 139 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:45:31 INFO: [Worker 0] Saved videos eagerly for episode 105 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:45:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 09:45:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:45:43 INFO: [Worker 0] Saved videos eagerly for episode 103 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:45:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 09:45:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:45:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:45:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:45:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.85s (batch: 4.61s, save: 9.24s)	[pipeline.py: 300]
+05/10 09:45:45 INFO: [Worker 0] [PROFILE] Episode 140 house 1 success=True episode_total=1.15s:
+  episode_total: mean=228.99s, total=228.99s, count=1, min=228985.5ms, max=228985.5ms
+  sensor_polling: mean=579.9ms, total=173.98s, count=300, min=474.2ms, max=1226.5ms
+  save_trajectories: mean=9.24s, total=9.24s, count=1, min=9236.2ms, max=9236.2ms
+  physics_step: mean=29.6ms, total=8.89s, count=300, min=20.0ms, max=131.6ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4612.8ms, max=4612.8ms
+  task_sampling: mean=1.15s, total=1.15s, count=1, min=1149.4ms, max=1149.4ms
+  task_specific_sample: mean=1.14s, total=1.14s, count=1, min=1142.6ms, max=1142.6ms
+  scene_randomize: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
+  mj_forward_sync: mean=725.4us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 09:45:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:45:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:45:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:45:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:45:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:45:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:45:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:45:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:45:47 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 09:45:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:45:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.010m, effective arm-mount z=0.850m (base_body_z=-0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009529m	[env.py: 870]
+05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:45:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.19213353  1.03392885 -0.00952875] yaw=-139.7deg	[env.py: 1019]
+05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74948101  0.79923651 -0.00952875] yaw=-162.5deg	[env.py: 1019]
+05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68429115  0.50236033 -0.00952875] yaw=-176.0deg	[env.py: 1019]
+05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:45:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.9ms, total=224.0ms	[env.py: 1075]
+05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.192, 1.034, -0.010)	[env.py: 1079]
+05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.7 deg	[env.py: 1082]
+05/10 09:45:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.752m	[env.py: 1086]
+05/10 09:45:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:45:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:45:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:45:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:45:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:45:47 INFO: [Worker 0] Worker 0 house 1 episode 141/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:45:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:45:47 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 09:45:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:45:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:45:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.538s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:45:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.325[m] 77.388[deg]	[grasp_sample.py: 539]
+05/10 09:45:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:45:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:45:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:45:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:45:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:45:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.36s (batch: 4.67s, save: 9.69s)	[pipeline.py: 300]
+05/10 09:45:58 INFO: [Worker 0] [PROFILE] Episode 139 house 1 success=True episode_total=0.56s:
+  episode_total: mean=261.07s, total=261.07s, count=1, min=261071.3ms, max=261071.3ms
+  sensor_polling: mean=576.9ms, total=173.07s, count=300, min=471.1ms, max=1022.5ms
+  save_trajectories: mean=9.69s, total=9.69s, count=1, min=9690.7ms, max=9690.7ms
+  physics_step: mean=27.3ms, total=8.18s, count=300, min=15.9ms, max=138.2ms
+  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4665.2ms, max=4665.2ms
+  task_sampling: mean=563.8ms, total=563.8ms, count=1, min=563.8ms, max=563.8ms
+  task_specific_sample: mean=558.6ms, total=558.6ms, count=1, min=558.6ms, max=558.6ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=743.6us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=15.7us, 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 09:46:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:46:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:46:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:46:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:46:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:46:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:46:00 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 09:46:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:46:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028997m	[env.py: 870]
+05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:46:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94141841  0.10682752  0.02899746] yaw=146.3deg	[env.py: 1019]
+05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.1429401   1.07650285  0.02899746] yaw=-143.9deg	[env.py: 1019]
+05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95272382  0.72007238  0.02899746] yaw=-165.3deg	[env.py: 1019]
+05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:46:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.7ms, total=95.7ms	[env.py: 1075]
+05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.107, 0.029)	[env.py: 1079]
+05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.3 deg	[env.py: 1082]
+05/10 09:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
+05/10 09:46:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:46:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:46:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:46:00 INFO: [Worker 0] Worker 0 house 1 episode 140/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:46:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:46:01 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 09:46:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:46:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:46:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.385s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:46:02 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.423[m] 93.448[deg]	[grasp_sample.py: 539]
+05/10 09:46:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:46:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:46:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:46:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:46:10 INFO: [Worker 0] Worker 0 house 1 episode 150 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:46:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:46:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:46:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:46:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:46:40 INFO: [Worker 0] Saved videos eagerly for episode 96 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:46:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 09:46:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:46:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:46:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:46:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:46:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:46:56 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.19s (batch: 4.72s, save: 11.47s)	[pipeline.py: 300]
+05/10 09:46:57 INFO: [Worker 0] [PROFILE] Episode 150 house 1 success=True episode_total=0.67s:
+  episode_total: mean=225.05s, total=225.05s, count=1, min=225053.0ms, max=225053.0ms
+  sensor_polling: mean=544.5ms, total=163.36s, count=300, min=461.2ms, max=1001.9ms
+  save_trajectories: mean=11.47s, total=11.47s, count=1, min=11470.3ms, max=11470.3ms
+  physics_step: mean=28.8ms, total=8.63s, count=300, min=19.2ms, max=142.3ms
+  save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4724.2ms, max=4724.2ms
+  task_sampling: mean=667.3ms, total=667.3ms, count=1, min=667.3ms, max=667.3ms
+  task_specific_sample: mean=662.7ms, total=662.7ms, count=1, min=662.7ms, max=662.7ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=567.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 09:46:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:46:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:46:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:46:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:46:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:46:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:46:59 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 09:46:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:46:59 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 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025149m	[env.py: 870]
+05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:46:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7442709  -0.03369161 -0.02514889] yaw=158.4deg	[env.py: 1019]
+05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:46:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=218.6ms, total=218.7ms	[env.py: 1075]
+05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.744, -0.034, -0.025)	[env.py: 1079]
+05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.4 deg	[env.py: 1082]
+05/10 09:46:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
+05/10 09:46:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:46:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:46:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:47:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:47:00 INFO: [Worker 0] Worker 0 house 1 episode 151/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:47:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:47:00 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 09:47:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:47:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:47:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.880s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:47:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.641[m] 87.843[deg]	[grasp_sample.py: 539]
+05/10 09:47:03 ERROR: [Worker 0] Worker 0 house 1 episode 151 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 09:47:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:47:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:47:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:47:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:47:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:47:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:47:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:47:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:47:05 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 09:47:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:47:05 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 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036780m	[env.py: 870]
+05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:47:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.17078517  1.05249046  0.03678047] yaw=-142.9deg	[env.py: 1019]
+05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86904464  0.84794441  0.03678047] yaw=-156.8deg	[env.py: 1019]
+05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:47:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81562446  0.2032688   0.03678047] yaw=155.5deg	[env.py: 1019]
+05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:47:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=516.4ms, total=516.4ms	[env.py: 1075]
+05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.171, 1.052, 0.037)	[env.py: 1079]
+05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.9 deg	[env.py: 1082]
+05/10 09:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.780m	[env.py: 1086]
+05/10 09:47:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:47:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:47:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:47:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:47:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:47:06 INFO: [Worker 0] Worker 0 house 1 episode 152/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:47:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:47:06 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 09:47:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:47:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:47:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.530s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:47:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.385[m] 91.524[deg]	[grasp_sample.py: 539]
+05/10 09:47:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:47:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:47:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:47:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:47:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:48:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:48:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:48:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:48:14 INFO: [Worker 0] Worker 0 house 1 episode 145 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:48:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:48:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:48:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:48:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:48:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:48:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:48:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:48:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:48:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:48:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:48:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:48:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:48:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:48:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:48:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 09:48:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:48:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:48:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:48:30 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.972s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:48:30 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.005[deg]	[grasp_sample.py: 539]
+05/10 09:48:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:48:32 ERROR: [Worker 0] Worker 0 house 1 episode 141 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 09:48:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:48:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:48:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:48:33 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 09:48:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:48:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:48:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:48:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:48:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:48:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:48:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:48:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:48:33 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 09:48:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:48:33 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 09:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011882m	[env.py: 870]
+05/10 09:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:48:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:48:33 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.477s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:48:33 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.135[deg]	[grasp_sample.py: 539]
+05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85391451  1.03221048  0.01188207] yaw=-137.5deg	[env.py: 1019]
+05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01702695  0.111205    0.01188207] yaw=149.7deg	[env.py: 1019]
+05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91510617  1.2006811   0.01188207] yaw=-135.2deg	[env.py: 1019]
+05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:48:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=239.8ms, total=239.9ms	[env.py: 1075]
+05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.854, 1.032, 0.012)	[env.py: 1079]
+05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.5 deg	[env.py: 1082]
+05/10 09:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m	[env.py: 1086]
+05/10 09:48:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:48:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:48:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:48:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:48:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:48:34 INFO: [Worker 0] Worker 0 house 1 episode 142/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:48:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:48:34 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 09:48:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:48:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:48:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:48:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:48:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:48:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.814s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:48:36 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.564[m] 83.631[deg]	[grasp_sample.py: 539]
+05/10 09:48:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:48:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:48:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:48:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:48:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:48:42 INFO: [Worker 0] Saved videos eagerly for episode 108 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:48:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 09:48:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:48:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:48:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:48:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:48:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:48:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:48:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:48:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:48:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.85s (batch: 4.69s, save: 10.16s)	[pipeline.py: 300]
+05/10 09:48:57 INFO: [Worker 0] [PROFILE] Episode 145 house 1 success=True episode_total=0.50s:
+  episode_total: mean=225.79s, total=225.79s, count=1, min=225786.9ms, max=225786.9ms
+  sensor_polling: mean=558.7ms, total=167.60s, count=300, min=453.9ms, max=971.8ms
+  save_trajectories: mean=10.16s, total=10.16s, count=1, min=10161.0ms, max=10161.0ms
+  physics_step: mean=27.4ms, total=8.23s, count=300, min=17.3ms, max=87.7ms
+  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4691.1ms, max=4691.1ms
+  task_sampling: mean=496.9ms, total=496.9ms, count=1, min=496.9ms, max=496.9ms
+  task_specific_sample: mean=493.0ms, total=493.0ms, count=1, min=493.0ms, max=493.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=430.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.7us, 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 09:48:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:48:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:48:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:48:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:48:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:48:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:48:59 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 09:48:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:48:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020944m	[env.py: 870]
+05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:48:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82011448  0.9152325  -0.02094412] yaw=-159.7deg	[env.py: 1019]
+05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73801982  0.23968869 -0.02094412] yaw=168.6deg	[env.py: 1019]
+05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90426822  0.8584919  -0.02094412] yaw=-149.8deg	[env.py: 1019]
+05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:48:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.1ms, total=177.2ms	[env.py: 1075]
+05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.820, 0.915, -0.021)	[env.py: 1079]
+05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.7 deg	[env.py: 1082]
+05/10 09:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/10 09:48:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:48:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:49:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:49:00 INFO: [Worker 0] Worker 0 house 1 episode 146/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:49:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:49:00 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 09:49:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:49:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:49:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:49:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.817s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:49:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.602[m] 96.668[deg]	[grasp_sample.py: 539]
+05/10 09:49:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:49:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:49:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:49:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:49:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:49:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:49:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:49:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:49:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:49:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:49:31 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 09:49:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:49:31 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 09:49:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:49:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:49:33 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.913s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:49:33 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.027[m] 3.661[deg]	[grasp_sample.py: 539]
+05/10 09:49:34 ERROR: [Worker 0] Worker 0 house 1 episode 140 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 09:49:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:49:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:49:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:49:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:49:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:49:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:49:36 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 09:49:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:49:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024068m	[env.py: 870]
+05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:49:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74919598  0.66077751  0.02406839] yaw=-160.0deg	[env.py: 1019]
+05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.97483032  0.83568629  0.02406839] yaw=-155.7deg	[env.py: 1019]
+05/10 09:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:49:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=358.7ms, total=358.7ms	[env.py: 1075]
+05/10 09:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.661, 0.024)	[env.py: 1079]
+05/10 09:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.0 deg	[env.py: 1082]
+05/10 09:49:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m	[env.py: 1086]
+05/10 09:49:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:49:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:49:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:49:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:49:37 INFO: [Worker 0] Worker 0 house 1 episode 141/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:49:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:49:37 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 09:49:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:49:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:49:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.763s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:49:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.538[m] 92.162[deg]	[grasp_sample.py: 539]
+05/10 09:49:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:49:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:49:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:49:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:49:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:49:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:49:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:49:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:49:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:49:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:49:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:49:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:49:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:49:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:49:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:49:56 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 09:49:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:49:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:49:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:49:59 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.857s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:49:59 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.409[deg]	[grasp_sample.py: 539]
+05/10 09:50:01 ERROR: [Worker 0] Worker 0 house 1 episode 152 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 09:50:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:50:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:50:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:50:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:50:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:50:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:50:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:50:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:50:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 09:50:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:50:03 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 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005891m	[env.py: 870]
+05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:50:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00078178  0.3280613   0.00589094] yaw=176.9deg	[env.py: 1019]
+05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8924885   0.11361652  0.00589094] yaw=154.9deg	[env.py: 1019]
+05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.13264761  0.93193622  0.00589094] yaw=-150.1deg	[env.py: 1019]
+05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:50:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.5ms, total=164.5ms	[env.py: 1075]
+05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.001, 0.328, 0.006)	[env.py: 1079]
+05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.9 deg	[env.py: 1082]
+05/10 09:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.718m	[env.py: 1086]
+05/10 09:50:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:50:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:50:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:50:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:50:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:50:04 INFO: [Worker 0] Worker 0 house 1 episode 153/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:50:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:50:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 09:50:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:50:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:50:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.541s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:50:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.275[m] 80.087[deg]	[grasp_sample.py: 539]
+05/10 09:50:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:50:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:50:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:50:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:50:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:50:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:50:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:50:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:50:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:50:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:50:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:50:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:51:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:51:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:51:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:51:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:51:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:51:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:51:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:51:33 INFO: [Worker 0] Worker 0 house 1 episode 142 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:51:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:51:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:51:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:51:34 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 09:51:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:51:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:51:34 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.444s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:51:34 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.447[deg]	[grasp_sample.py: 539]
+05/10 09:51:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:51:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:51:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:51:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:51:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:51:58 INFO: [Worker 0] Saved videos eagerly for episode 106 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:51:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 09:51:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:52:00 INFO: [Worker 0] Worker 0 house 1 episode 146 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:52:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:52:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:52:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:52:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.68s (batch: 4.53s, save: 10.15s)	[pipeline.py: 300]
+05/10 09:52:14 INFO: [Worker 0] [PROFILE] Episode 142 house 1 success=True episode_total=1.08s:
+  episode_total: mean=192.41s, total=384.81s, count=2, min=164754.5ms, max=220055.6ms
+  sensor_polling: mean=549.4ms, total=300.54s, count=547, min=458.0ms, max=1005.8ms
+  physics_step: mean=28.4ms, total=15.54s, count=547, min=17.0ms, max=121.4ms
+  save_trajectories: mean=10.15s, total=10.15s, count=1, min=10146.3ms, max=10146.3ms
+  save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4532.3ms, max=4532.3ms
+  task_sampling: mean=540.1ms, total=1.08s, count=2, min=527.9ms, max=552.3ms
+  task_specific_sample: mean=535.4ms, total=1.07s, count=2, min=522.3ms, max=548.5ms
+  scene_randomize: mean=3.0ms, total=6.1ms, count=2, min=2.5ms, max=3.6ms
+  mj_forward_sync: mean=500.7us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  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 09:52:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:52:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:52:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:52:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:52:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:52:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:52:15 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 09:52:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:52:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005322m	[env.py: 870]
+05/10 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:52:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04198614  0.81243024 -0.00532211] yaw=-148.6deg	[env.py: 1019]
+05/10 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72557853  0.95905642 -0.00532211] yaw=-153.9deg	[env.py: 1019]
+05/10 09:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78294916  0.01056013 -0.00532211] yaw=143.7deg	[env.py: 1019]
+05/10 09:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:52:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=138.1ms, total=138.1ms	[env.py: 1075]
+05/10 09:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.042, 0.812, -0.005)	[env.py: 1079]
+05/10 09:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.6 deg	[env.py: 1082]
+05/10 09:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.738m	[env.py: 1086]
+05/10 09:52:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:52:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:52:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:52:16 INFO: [Worker 0] Worker 0 house 1 episode 143/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:52:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:52:16 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 09:52:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:52:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:52:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.589s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:52:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.264[m] 72.924[deg]	[grasp_sample.py: 539]
+05/10 09:52:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:52:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:52:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:52:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:52:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:52:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:52:27 INFO: [Worker 0] Saved videos eagerly for episode 109 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:52:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 09:52:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:52:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:52:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:52:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:52:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:52:33 INFO: [Worker 0] Worker 0 house 1 episode 141 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:52:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:52:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:52:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.31s (batch: 4.67s, save: 12.64s)	[pipeline.py: 300]
+05/10 09:52:45 INFO: [Worker 0] [PROFILE] Episode 146 house 1 success=True episode_total=0.48s:
+  episode_total: mean=226.06s, total=226.06s, count=1, min=226063.6ms, max=226063.6ms
+  sensor_polling: mean=553.8ms, total=166.13s, count=300, min=463.9ms, max=947.7ms
+  save_trajectories: mean=12.64s, total=12.64s, count=1, min=12637.4ms, max=12637.4ms
+  physics_step: mean=27.8ms, total=8.35s, count=300, min=19.8ms, max=68.7ms
+  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4670.9ms, max=4670.9ms
+  task_sampling: mean=484.7ms, total=484.7ms, count=1, min=484.7ms, max=484.7ms
+  task_specific_sample: mean=479.7ms, total=479.7ms, count=1, min=479.7ms, max=479.7ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=638.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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 09:52:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:52:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:52:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:52:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:52:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:52:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:52:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:52:47 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 09:52:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:52:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039980m	[env.py: 870]
+05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:52:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.11017801  0.88586912 -0.03997969] yaw=-139.4deg	[env.py: 1019]
+05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 129.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76013596  0.86402957 -0.03997969] yaw=-152.3deg	[env.py: 1019]
+05/10 09:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73059748  0.21653558 -0.03997969] yaw=167.3deg	[env.py: 1019]
+05/10 09:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:52:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=508.9ms, total=508.9ms	[env.py: 1075]
+05/10 09:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.110, 0.886, -0.040)	[env.py: 1079]
+05/10 09:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.4 deg	[env.py: 1082]
+05/10 09:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.717m	[env.py: 1086]
+05/10 09:52:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:52:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:52:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:52:48 INFO: [Worker 0] Worker 0 house 1 episode 147/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:52:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:52:48 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 09:52:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:52:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:52:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:52:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.252[m] 76.649[deg]	[grasp_sample.py: 539]
+05/10 09:52:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:52:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:52:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:52:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:53:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:53:03 INFO: [Worker 0] Saved videos eagerly for episode 104 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:53:03 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 09:53:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:53:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:53:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:53:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:53:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:53:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:53:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:53:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:53:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:53:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:53:19 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.73s (batch: 4.99s, save: 10.74s)	[pipeline.py: 300]
+05/10 09:53:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:53:20 INFO: [Worker 0] [PROFILE] Episode 141 house 1 success=True episode_total=1.18s:
+  episode_total: mean=219.06s, total=438.12s, count=2, min=214282.5ms, max=223834.5ms
+  sensor_polling: mean=558.9ms, total=325.30s, count=582, min=456.1ms, max=1127.4ms
+  physics_step: mean=27.5ms, total=16.00s, count=582, min=15.8ms, max=94.6ms
+  save_trajectories: mean=10.74s, total=10.74s, count=1, min=10742.9ms, max=10742.9ms
+  save_batch_prep: mean=4.99s, total=4.99s, count=1, min=4991.4ms, max=4991.4ms
+  task_sampling: mean=590.6ms, total=1.18s, count=2, min=488.3ms, max=692.9ms
+  task_specific_sample: mean=586.5ms, total=1.17s, count=2, min=483.8ms, max=689.1ms
+  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=1.6ms, max=2.9ms
+  mj_forward_sync: mean=545.1us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  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 09:53:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 09:53:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 09:53:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 09:53:21 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 09:53:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:53:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:53:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:53:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:53:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:53:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:53:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:53:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:53:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:53:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:53:22 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 09:53:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:53:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020942m	[env.py: 870]
+05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:53:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80961595  0.79759765 -0.02094208] yaw=-159.6deg	[env.py: 1019]
+05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98068372  1.12924036 -0.02094208] yaw=-130.7deg	[env.py: 1019]
+05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74965571  0.00207744 -0.02094208] yaw=163.4deg	[env.py: 1019]
+05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:53:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.3ms, total=97.4ms	[env.py: 1075]
+05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.810, 0.798, -0.021)	[env.py: 1079]
+05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.6 deg	[env.py: 1082]
+05/10 09:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
+05/10 09:53:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:53:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:53:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:53:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:53:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:53:22 INFO: [Worker 0] Worker 0 house 1 episode 142/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:53:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:53:22 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 09:53:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:53:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:53:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.753s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:53:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.493[m] 81.692[deg]	[grasp_sample.py: 539]
+05/10 09:53:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:53:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:53:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:53:25 INFO: [Worker 0] Feasibility-checked 78 grasps in 3.787s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:53:25 INFO: [Worker 0] Feasible grasp found 147 (originally 32): w/ 0.108[m] 1.859[deg]	[grasp_sample.py: 539]
+05/10 09:53:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:53:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:53:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:53:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:53:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:53:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:53:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:53:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:54:00 INFO: [Worker 0] Worker 0 house 1 episode 153 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:54:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:54:31 INFO: [Worker 0] Saved videos eagerly for episode 97 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:54:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 09:54:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:54:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:54:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:54:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:54:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:54:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.17s (batch: 4.66s, save: 9.51s)	[pipeline.py: 300]
+05/10 09:54:47 INFO: [Worker 0] [PROFILE] Episode 153 house 1 success=True episode_total=2.08s:
+  episode_total: mean=154.52s, total=463.57s, count=3, min=3785.9ms, max=283411.5ms
+  sensor_polling: mean=559.1ms, total=311.43s, count=557, min=470.9ms, max=950.7ms
+  physics_step: mean=27.3ms, total=15.20s, count=557, min=16.0ms, max=100.3ms
+  save_trajectories: mean=9.51s, total=9.51s, count=1, min=9508.6ms, max=9508.6ms
+  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4664.1ms, max=4664.1ms
+  task_sampling: mean=691.8ms, total=2.08s, count=3, min=452.5ms, max=1069.2ms
+  task_specific_sample: mean=687.7ms, total=2.06s, count=3, min=448.3ms, max=1065.1ms
+  scene_randomize: mean=2.2ms, total=6.7ms, count=3, min=1.5ms, max=2.6ms
+  mj_forward_sync: mean=557.8us, total=1.7ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=20.6us, 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 09:54:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:54:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:54:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:54:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:54:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:54:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:54:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 09:54:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:54:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005087m	[env.py: 870]
+05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:54:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.6522431   0.19600408  0.00508719] yaw=172.7deg	[env.py: 1019]
+05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91841964  1.1237608   0.00508719] yaw=-134.7deg	[env.py: 1019]
+05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68891857  0.11743439  0.00508719] yaw=168.6deg	[env.py: 1019]
+05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:54:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.0ms, total=167.1ms	[env.py: 1075]
+05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.196, 0.005)	[env.py: 1079]
+05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.7 deg	[env.py: 1082]
+05/10 09:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
+05/10 09:54:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:54:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:54:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:54:49 INFO: [Worker 0] Worker 0 house 1 episode 154/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:54:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:54:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 09:54:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:54:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:54:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.763s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:54:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.632[m] 83.910[deg]	[grasp_sample.py: 539]
+05/10 09:54:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:54:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:54:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:55:03 INFO: [Worker 0] Worker 0 house 1 episode 143 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:55:28 INFO: [Worker 0] Saved videos eagerly for episode 107 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:55:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 09:55:28 INFO: [Worker 0] Preparing episode data: 273 timesteps	[save_utils.py: 278]
+05/10 09:55:34 INFO: [Worker 0] Worker 0 house 1 episode 147 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:55:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:55:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:55:42 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.94s (batch: 4.93s, save: 9.01s)	[pipeline.py: 300]
+05/10 09:55:43 INFO: [Worker 0] [PROFILE] Episode 143 house 1 success=True episode_total=0.44s:
+  episode_total: mean=207.87s, total=207.87s, count=1, min=207869.4ms, max=207869.4ms
+  sensor_polling: mean=568.6ms, total=154.67s, count=272, min=466.1ms, max=1032.7ms
+  save_trajectories: mean=9.01s, total=9.01s, count=1, min=9007.1ms, max=9007.1ms
+  physics_step: mean=29.3ms, total=7.98s, count=272, min=16.2ms, max=112.7ms
+  save_batch_prep: mean=4.93s, total=4.93s, count=1, min=4932.7ms, max=4932.7ms
+  task_sampling: mean=444.1ms, total=444.1ms, count=1, min=444.1ms, max=444.1ms
+  task_specific_sample: mean=439.1ms, total=439.1ms, count=1, min=439.1ms, max=439.1ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=645.6us, 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 09:55:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:55:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:55:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:55:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:55:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:55:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:55:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:55:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:55:45 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 09:55:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:55:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.038m, effective arm-mount z=0.822m (base_body_z=-0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038028m	[env.py: 870]
+05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:55:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68570481  0.85996247 -0.03802758] yaw=-160.2deg	[env.py: 1019]
+05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86577679  0.79524394 -0.03802758] yaw=-166.0deg	[env.py: 1019]
+05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03423861  0.80705481 -0.03802758] yaw=-158.8deg	[env.py: 1019]
+05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:55:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.3ms, total=187.4ms	[env.py: 1075]
+05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.686, 0.860, -0.038)	[env.py: 1079]
+05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.2 deg	[env.py: 1082]
+05/10 09:55:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
+05/10 09:55:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:55:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:55:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:55:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:55:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:55:46 INFO: [Worker 0] Worker 0 house 1 episode 144/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:55:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:55:46 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 09:55:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:55:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:55:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.272s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:55:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.630[m] 81.135[deg]	[grasp_sample.py: 539]
+05/10 09:55:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:55:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:55:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:56:01 INFO: [Worker 0] Saved videos eagerly for episode 110 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:56:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 09:56:01 INFO: [Worker 0] Preparing episode data: 272 timesteps	[save_utils.py: 278]
+05/10 09:56:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:56:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:56:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:56:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.62s (batch: 5.19s, save: 8.43s)	[pipeline.py: 300]
+05/10 09:56:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:56:15 INFO: [Worker 0] [PROFILE] Episode 147 house 1 success=True episode_total=0.83s:
+  episode_total: mean=208.07s, total=208.07s, count=1, min=208074.6ms, max=208074.6ms
+  sensor_polling: mean=566.1ms, total=153.40s, count=271, min=469.6ms, max=1232.0ms
+  save_trajectories: mean=8.43s, total=8.43s, count=1, min=8431.4ms, max=8431.4ms
+  physics_step: mean=28.6ms, total=7.75s, count=271, min=18.8ms, max=115.4ms
+  save_batch_prep: mean=5.19s, total=5.19s, count=1, min=5186.5ms, max=5186.5ms
+  task_sampling: mean=825.1ms, total=825.1ms, count=1, min=825.1ms, max=825.1ms
+  task_specific_sample: mean=820.6ms, total=820.6ms, count=1, min=820.6ms, max=820.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=662.6us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  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 09:56:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:56:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:56:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:56:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:56:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:56:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:56:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:56:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:56:17 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 09:56:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:56:17 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 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017055m	[env.py: 870]
+05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:56:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72486247  0.36818561  0.0170548 ] yaw=180.2deg	[env.py: 1019]
+05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74537775  0.26081855  0.0170548 ] yaw=164.9deg	[env.py: 1019]
+05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87638431  0.45342827  0.0170548 ] yaw=171.2deg	[env.py: 1019]
+05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:56:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.8ms, total=174.8ms	[env.py: 1075]
+05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.725, 0.368, 0.017)	[env.py: 1079]
+05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.2 deg	[env.py: 1082]
+05/10 09:56:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
+05/10 09:56:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:56:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:56:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:56:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:56:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:56:17 INFO: [Worker 0] Worker 0 house 1 episode 148/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:56:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:56:18 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 09:56:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:56:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:56:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.575s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:56:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.515[m] 85.914[deg]	[grasp_sample.py: 539]
+05/10 09:56:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:56:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:56:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:56:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:56:22 INFO: [Worker 0] Worker 0 house 1 episode 142 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:56:49 INFO: [Worker 0] Saved videos eagerly for episode 105 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:56:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 09:56:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:56:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:57:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:57:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:57:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.36s (batch: 4.49s, save: 11.87s)	[pipeline.py: 300]
+05/10 09:57:06 INFO: [Worker 0] [PROFILE] Episode 142 house 1 success=True episode_total=0.49s:
+  episode_total: mean=224.34s, total=224.34s, count=1, min=224339.9ms, max=224339.9ms
+  sensor_polling: mean=553.6ms, total=166.07s, count=300, min=464.6ms, max=1079.2ms
+  save_trajectories: mean=11.87s, total=11.87s, count=1, min=11870.0ms, max=11870.0ms
+  physics_step: mean=26.8ms, total=8.04s, count=300, min=19.5ms, max=89.5ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4493.1ms, max=4493.1ms
+  task_sampling: mean=488.9ms, total=488.9ms, count=1, min=488.9ms, max=488.9ms
+  task_specific_sample: mean=483.9ms, total=483.9ms, count=1, min=483.9ms, max=483.9ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=652.9us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  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 09:57:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:57:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:57:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:57:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:57:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:57:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:57:08 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 09:57:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:57:08 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 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021690m	[env.py: 870]
+05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:57:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95204173  0.62081115  0.02169032] yaw=-178.3deg	[env.py: 1019]
+05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77663681  0.62290092  0.02169032] yaw=-172.1deg	[env.py: 1019]
+05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08173172  0.97605608  0.02169032] yaw=-148.8deg	[env.py: 1019]
+05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:57:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=118.4ms, total=118.5ms	[env.py: 1075]
+05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.952, 0.621, 0.022)	[env.py: 1079]
+05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.3 deg	[env.py: 1082]
+05/10 09:57:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.763m	[env.py: 1086]
+05/10 09:57:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:57:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:57:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:57:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:57:09 INFO: [Worker 0] Worker 0 house 1 episode 143/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:57:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:57:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 09:57:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:57:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:57:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.541s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:57:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.351[m] 91.927[deg]	[grasp_sample.py: 539]
+05/10 09:57:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:57:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:57:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:57:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:57:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:57:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:57:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:57:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:57:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:57:52 INFO: [Worker 0] Worker 0 house 1 episode 154 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:58:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 09:58:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:58:16 INFO: [Worker 0] Saved videos eagerly for episode 98 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:58:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 09:58:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:58:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:58:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:58:31 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.88s (batch: 4.52s, save: 10.35s)	[pipeline.py: 300]
+05/10 09:58:32 INFO: [Worker 0] [PROFILE] Episode 154 house 1 success=True episode_total=0.50s:
+  episode_total: mean=223.57s, total=223.57s, count=1, min=223569.9ms, max=223569.9ms
+  sensor_polling: mean=555.6ms, total=166.67s, count=300, min=463.6ms, max=1057.8ms
+  save_trajectories: mean=10.35s, total=10.35s, count=1, min=10354.6ms, max=10354.6ms
+  physics_step: mean=29.0ms, total=8.70s, count=300, min=17.8ms, max=112.3ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4522.7ms, max=4522.7ms
+  task_sampling: mean=503.5ms, total=503.5ms, count=1, min=503.5ms, max=503.5ms
+  task_specific_sample: mean=495.9ms, total=495.9ms, count=1, min=495.9ms, max=495.9ms
+  scene_randomize: mean=5.9ms, total=5.9ms, count=1, min=5.9ms, max=5.9ms
+  mj_forward_sync: mean=600.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 09:58:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:58:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:58:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:58:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:58:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:58:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:58:34 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 09:58:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:58:34 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 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.008729m	[env.py: 870]
+05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:58:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95148791  1.03215851 -0.00872882] yaw=-139.9deg	[env.py: 1019]
+05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.66685936  0.32298704 -0.00872882] yaw=162.4deg	[env.py: 1019]
+05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95072738  1.21924901 -0.00872882] yaw=-141.1deg	[env.py: 1019]
+05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:58:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=374.4ms, total=374.4ms	[env.py: 1075]
+05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.951, 1.032, -0.009)	[env.py: 1079]
+05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.9 deg	[env.py: 1082]
+05/10 09:58:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m	[env.py: 1086]
+05/10 09:58:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:58:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:58:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:58:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:58:35 INFO: [Worker 0] Worker 0 house 1 episode 155/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:58:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.170s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:58:35 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 09:58:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:58:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:58:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.589s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:58:42 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.546[m] 94.360[deg]	[grasp_sample.py: 539]
+05/10 09:58:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:58:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:58:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:58:45 INFO: [Worker 0] Worker 0 house 1 episode 144 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:59:09 INFO: [Worker 0] Saved videos eagerly for episode 108 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:59:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 09:59:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:59:21 INFO: [Worker 0] Worker 0 house 1 episode 148 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 09:59:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 09:59:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 09:59:25 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.64s (batch: 5.11s, save: 10.53s)	[pipeline.py: 300]
+05/10 09:59:26 INFO: [Worker 0] [PROFILE] Episode 144 house 1 success=True episode_total=0.49s:
+  episode_total: mean=220.31s, total=220.31s, count=1, min=220307.4ms, max=220307.4ms
+  sensor_polling: mean=542.7ms, total=162.82s, count=300, min=459.4ms, max=1136.2ms
+  save_trajectories: mean=10.53s, total=10.53s, count=1, min=10527.4ms, max=10527.4ms
+  physics_step: mean=26.9ms, total=8.06s, count=300, min=19.3ms, max=118.8ms
+  save_batch_prep: mean=5.11s, total=5.11s, count=1, min=5109.7ms, max=5109.7ms
+  task_sampling: mean=491.3ms, total=491.3ms, count=1, min=491.3ms, max=491.3ms
+  task_specific_sample: mean=486.9ms, total=486.9ms, count=1, min=486.9ms, max=486.9ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=487.6us, 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 09:59:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 09:59:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 09:59:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 09:59:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:59:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:59:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:59:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:59:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 09:59:28 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 09:59:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 09:59:28 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 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047780m	[env.py: 870]
+05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 09:59:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89052064  0.46718181  0.04777971] yaw=170.4deg	[env.py: 1019]
+05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87958742  0.88035671  0.04777971] yaw=-152.9deg	[env.py: 1019]
+05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98588747  1.05497134  0.04777971] yaw=-138.9deg	[env.py: 1019]
+05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 09:59:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.3ms, total=151.3ms	[env.py: 1075]
+05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.891, 0.467, 0.048)	[env.py: 1079]
+05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.4 deg	[env.py: 1082]
+05/10 09:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m	[env.py: 1086]
+05/10 09:59:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 09:59:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 09:59:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 09:59:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 09:59:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 09:59:28 INFO: [Worker 0] Worker 0 house 1 episode 145/240 collected=0/40	[pipeline.py: 1044]
+05/10 09:59:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.163s	[base_object_manipulation_planner_policy.py: 377]
+05/10 09:59:28 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 09:59:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 09:59:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 09:59:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.232s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 09:59:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.391[m] 95.592[deg]	[grasp_sample.py: 539]
+05/10 09:59:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 09:59:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 09:59:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:59:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 09:59:54 INFO: [Worker 0] Saved videos eagerly for episode 111 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 09:59:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 09:59:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 09:59:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:00:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:00:07 INFO: [Worker 0] Worker 0 house 1 episode 143 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:00:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:00:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:00:08 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.16s (batch: 4.72s, save: 9.43s)	[pipeline.py: 300]
+05/10 10:00:09 INFO: [Worker 0] [PROFILE] Episode 148 house 1 success=True episode_total=0.53s:
+  episode_total: mean=231.68s, total=231.68s, count=1, min=231679.9ms, max=231679.9ms
+  sensor_polling: mean=546.6ms, total=163.99s, count=300, min=449.2ms, max=1013.4ms
+  save_trajectories: mean=9.43s, total=9.43s, count=1, min=9431.5ms, max=9431.5ms
+  physics_step: mean=29.8ms, total=8.94s, count=300, min=17.6ms, max=123.9ms
+  save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4724.9ms, max=4724.9ms
+  task_sampling: mean=530.6ms, total=530.6ms, count=1, min=530.6ms, max=530.6ms
+  task_specific_sample: mean=525.7ms, total=525.7ms, count=1, min=525.7ms, max=525.7ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=601.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:00:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:00:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:00:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:00:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:00:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:00:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:00:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:00:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:00:10 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 10:00:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:00:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043902m	[env.py: 870]
+05/10 10:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:00:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81218836  0.24241438  0.04390162] yaw=166.0deg	[env.py: 1019]
+05/10 10:00:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78275634  0.93029605  0.04390162] yaw=-154.7deg	[env.py: 1019]
+05/10 10:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01615287  0.27616029  0.04390162] yaw=165.7deg	[env.py: 1019]
+05/10 10:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:00:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.2ms, total=128.2ms	[env.py: 1075]
+05/10 10:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.812, 0.242, 0.044)	[env.py: 1079]
+05/10 10:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.0 deg	[env.py: 1082]
+05/10 10:00:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
+05/10 10:00:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:00:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:00:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:00:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:00:11 INFO: [Worker 0] Worker 0 house 1 episode 149/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:00:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:00:11 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 10:00:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:00:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:00:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.575s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:00:12 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.479[m] 95.018[deg]	[grasp_sample.py: 539]
+05/10 10:00:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:00:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:00:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:00:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:00:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:00:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:00:38 INFO: [Worker 0] Saved videos eagerly for episode 106 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:00:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 10:00:38 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
+05/10 10:00:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:00:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:00:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.80s (batch: 4.74s, save: 11.06s)	[pipeline.py: 300]
+05/10 10:00:55 INFO: [Worker 0] [PROFILE] Episode 143 house 1 success=True episode_total=0.47s:
+  episode_total: mean=226.74s, total=226.74s, count=1, min=226737.4ms, max=226737.4ms
+  sensor_polling: mean=555.2ms, total=162.13s, count=292, min=469.5ms, max=1048.7ms
+  save_trajectories: mean=11.06s, total=11.06s, count=1, min=11058.8ms, max=11058.8ms
+  physics_step: mean=28.3ms, total=8.27s, count=292, min=19.5ms, max=135.1ms
+  save_batch_prep: mean=4.74s, total=4.74s, count=1, min=4739.5ms, max=4739.5ms
+  task_sampling: mean=469.5ms, total=469.5ms, count=1, min=469.5ms, max=469.5ms
+  task_specific_sample: mean=464.4ms, total=464.4ms, count=1, min=464.4ms, max=464.4ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=673.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:00:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:00:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:00:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:00:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:00:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:00:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:00:57 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 10:00:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:00:57 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 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.032301m	[env.py: 870]
+05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:00:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84675323  0.60711272 -0.03230096] yaw=-176.3deg	[env.py: 1019]
+05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86993032  1.08467207 -0.03230096] yaw=-142.3deg	[env.py: 1019]
+05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.99089121  0.92813594 -0.03230096] yaw=-147.5deg	[env.py: 1019]
+05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:00:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=271.8ms, total=271.8ms	[env.py: 1075]
+05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.847, 0.607, -0.032)	[env.py: 1079]
+05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.3 deg	[env.py: 1082]
+05/10 10:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
+05/10 10:00:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:00:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:00:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:00:57 INFO: [Worker 0] Worker 0 house 1 episode 144/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:00:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:00:58 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 10:00:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:00:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:00:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.579s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:00:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.456[m] 95.192[deg]	[grasp_sample.py: 539]
+05/10 10:00:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:00:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:00:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:01:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:01:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:01:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:01:36 INFO: [Worker 0] Worker 0 house 1 episode 155 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:01:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:01:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:02:02 INFO: [Worker 0] Saved videos eagerly for episode 99 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:02:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 10:02:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:02:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:02:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:02:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:02:17 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.77s (batch: 4.98s, save: 10.79s)	[pipeline.py: 300]
+05/10 10:02:18 INFO: [Worker 0] [PROFILE] Episode 155 house 1 success=True episode_total=0.75s:
+  episode_total: mean=223.98s, total=223.98s, count=1, min=223975.2ms, max=223975.2ms
+  sensor_polling: mean=538.8ms, total=161.64s, count=300, min=457.7ms, max=1363.6ms
+  save_trajectories: mean=10.79s, total=10.79s, count=1, min=10793.3ms, max=10793.3ms
+  physics_step: mean=27.3ms, total=8.18s, count=300, min=16.6ms, max=137.2ms
+  save_batch_prep: mean=4.98s, total=4.98s, count=1, min=4975.2ms, max=4975.2ms
+  task_sampling: mean=754.3ms, total=754.3ms, count=1, min=754.3ms, max=754.3ms
+  task_specific_sample: mean=750.0ms, total=750.0ms, count=1, min=750.0ms, max=750.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=556.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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 10:02:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:02:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:02:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:02:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:02:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:02:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:02:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:02:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:02:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:02:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:02:20 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 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021521m	[env.py: 870]
+05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:02:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.76844691  0.11204697 -0.02152078] yaw=158.0deg	[env.py: 1019]
+05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:02:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=246.3ms, total=246.3ms	[env.py: 1075]
+05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.768, 0.112, -0.022)	[env.py: 1079]
+05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.0 deg	[env.py: 1082]
+05/10 10:02:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
+05/10 10:02:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:02:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:02:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:02:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:02:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:02:20 INFO: [Worker 0] Worker 0 house 1 episode 156/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:02:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:02:20 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 10:02:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:02:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.102s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:02:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.785s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:02:23 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.554[m] 84.712[deg]	[grasp_sample.py: 539]
+05/10 10:02:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:02:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:02:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:02:29 INFO: [Worker 0] Worker 0 house 1 episode 145 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:02:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:02:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:02:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:02:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:02:57 INFO: [Worker 0] Saved videos eagerly for episode 109 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:02:57 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 10:02:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:02:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:03:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:03:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:03:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:03:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:03:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:03:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:03:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:03:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:03:05 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.458s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:03:05 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.772[deg]	[grasp_sample.py: 539]
+05/10 10:03:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:03:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:03:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:03:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:03:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:03:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.75s (batch: 5.12s, save: 11.63s)	[pipeline.py: 300]
+05/10 10:03:14 INFO: [Worker 0] [PROFILE] Episode 145 house 1 success=True episode_total=0.56s:
+  episode_total: mean=226.60s, total=226.60s, count=1, min=226602.3ms, max=226602.3ms
+  sensor_polling: mean=541.0ms, total=162.29s, count=300, min=461.1ms, max=995.5ms
+  save_trajectories: mean=11.63s, total=11.63s, count=1, min=11633.7ms, max=11633.7ms
+  physics_step: mean=29.4ms, total=8.82s, count=300, min=19.3ms, max=125.1ms
+  save_batch_prep: mean=5.12s, total=5.12s, count=1, min=5120.4ms, max=5120.4ms
+  task_sampling: mean=563.2ms, total=563.2ms, count=1, min=563.2ms, max=563.2ms
+  task_specific_sample: mean=558.7ms, total=558.7ms, count=1, min=558.7ms, max=558.7ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=525.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.3us, 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 10:03:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:03:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:03:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:03:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:03:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:03:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:03:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:03:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:03:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:03:16 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 10:03:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:03:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017955m	[env.py: 870]
+05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:03:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74521086  0.67642307  0.0179549 ] yaw=-164.9deg	[env.py: 1019]
+05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96484638  0.46110295  0.0179549 ] yaw=178.9deg	[env.py: 1019]
+05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.69307958  0.53924639  0.0179549 ] yaw=-167.8deg	[env.py: 1019]
+05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:03:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=228.4ms, total=228.4ms	[env.py: 1075]
+05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.745, 0.676, 0.018)	[env.py: 1079]
+05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.9 deg	[env.py: 1082]
+05/10 10:03:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m	[env.py: 1086]
+05/10 10:03:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:03:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:03:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:03:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:03:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:03:17 INFO: [Worker 0] Worker 0 house 1 episode 146/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:03:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:03:17 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 10:03:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:03:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:03:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.753s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:03:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.520[m] 83.204[deg]	[grasp_sample.py: 539]
+05/10 10:03:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:03:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:03:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:03:25 INFO: [Worker 0] Worker 0 house 1 episode 149 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:03:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:03:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:03:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:03:54 INFO: [Worker 0] Worker 0 house 1 episode 144 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:03:57 INFO: [Worker 0] Saved videos eagerly for episode 112 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:03:57 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 10:03:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:04:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:04:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:04:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.13s (batch: 5.35s, save: 10.78s)	[pipeline.py: 300]
+05/10 10:04:14 INFO: [Worker 0] [PROFILE] Episode 149 house 1 success=True episode_total=0.46s:
+  episode_total: mean=243.27s, total=243.27s, count=1, min=243271.2ms, max=243271.2ms
+  sensor_polling: mean=546.9ms, total=164.07s, count=300, min=473.0ms, max=967.1ms
+  save_trajectories: mean=10.78s, total=10.78s, count=1, min=10776.4ms, max=10776.4ms
+  physics_step: mean=27.7ms, total=8.31s, count=300, min=16.2ms, max=81.0ms
+  save_batch_prep: mean=5.35s, total=5.35s, count=1, min=5349.3ms, max=5349.3ms
+  task_sampling: mean=458.3ms, total=458.3ms, count=1, min=458.3ms, max=458.3ms
+  task_specific_sample: mean=453.6ms, total=453.6ms, count=1, min=453.6ms, max=453.6ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=605.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.5us, 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 10:04:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:04:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:04:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:04:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:04:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:04:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:04:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:04:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:04:15 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 10:04:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:04:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049937m	[env.py: 870]
+05/10 10:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:04:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.72530172  0.88111534  0.04993724] yaw=-147.9deg	[env.py: 1019]
+05/10 10:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:04:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=187.8ms, total=187.9ms	[env.py: 1075]
+05/10 10:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.725, 0.881, 0.050)	[env.py: 1079]
+05/10 10:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.9 deg	[env.py: 1082]
+05/10 10:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m	[env.py: 1086]
+05/10 10:04:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:04:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:04:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:04:16 INFO: [Worker 0] Worker 0 house 1 episode 150/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:04:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:04:16 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 10:04:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:04:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:04:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:04:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.981s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:04:19 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.673[m] 92.943[deg]	[grasp_sample.py: 539]
+05/10 10:04:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:04:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:04:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:04:23 INFO: [Worker 0] Saved videos eagerly for episode 107 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:04:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 10:04:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:04:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:04:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:04:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:04:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:04:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.55s (batch: 4.74s, save: 9.81s)	[pipeline.py: 300]
+05/10 10:04:38 INFO: [Worker 0] [PROFILE] Episode 144 house 1 success=True episode_total=0.63s:
+  episode_total: mean=221.59s, total=221.59s, count=1, min=221592.5ms, max=221592.5ms
+  sensor_polling: mean=541.5ms, total=162.46s, count=300, min=469.9ms, max=845.3ms
+  save_trajectories: mean=9.81s, total=9.81s, count=1, min=9808.4ms, max=9808.4ms
+  physics_step: mean=25.9ms, total=7.78s, count=300, min=16.3ms, max=64.5ms
+  save_batch_prep: mean=4.74s, total=4.74s, count=1, min=4740.7ms, max=4740.7ms
+  task_sampling: mean=629.4ms, total=629.4ms, count=1, min=629.4ms, max=629.4ms
+  task_specific_sample: mean=624.7ms, total=624.7ms, count=1, min=624.7ms, max=624.7ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=593.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.1us, 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 10:04:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:04:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:04:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:04:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:04:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:04:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:04:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:04:40 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 10:04:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:04:40 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 10:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031530m	[env.py: 870]
+05/10 10:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:04:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:04:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86591878  0.03787669  0.03153046] yaw=141.3deg	[env.py: 1019]
+05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98323554  0.839563    0.03153046] yaw=-161.7deg	[env.py: 1019]
+05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91819536  0.24346632  0.03153046] yaw=166.1deg	[env.py: 1019]
+05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:04:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.2ms, total=154.2ms	[env.py: 1075]
+05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.866, 0.038, 0.032)	[env.py: 1079]
+05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 141.3 deg	[env.py: 1082]
+05/10 10:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
+05/10 10:04:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:04:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:04:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:04:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:04:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:04:41 INFO: [Worker 0] Worker 0 house 1 episode 145/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:04:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:04:41 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 10:04:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:04:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:04:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.680s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:04:42 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.499[m] 90.036[deg]	[grasp_sample.py: 539]
+05/10 10:04:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:04:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:04:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:05:33 INFO: [Worker 0] Worker 0 house 1 episode 156 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:05:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:05:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:05:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:05:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:05:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:06:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:06:06 INFO: [Worker 0] Saved videos eagerly for episode 100 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:06:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 10:06:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:06:18 INFO: [Worker 0] Worker 0 house 1 episode 146 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:06:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:06:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:06:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.38s (batch: 4.96s, save: 11.42s)	[pipeline.py: 300]
+05/10 10:06:23 INFO: [Worker 0] [PROFILE] Episode 156 house 1 success=True episode_total=0.54s:
+  episode_total: mean=243.44s, total=243.44s, count=1, min=243440.8ms, max=243440.8ms
+  sensor_polling: mean=560.8ms, total=168.24s, count=300, min=479.7ms, max=1017.5ms
+  save_trajectories: mean=11.42s, total=11.42s, count=1, min=11419.4ms, max=11419.4ms
+  physics_step: mean=28.2ms, total=8.46s, count=300, min=19.1ms, max=92.4ms
+  save_batch_prep: mean=4.96s, total=4.96s, count=1, min=4958.9ms, max=4958.9ms
+  task_sampling: mean=542.0ms, total=542.0ms, count=1, min=542.0ms, max=542.0ms
+  task_specific_sample: mean=537.6ms, total=537.6ms, count=1, min=537.6ms, max=537.6ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=533.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:06:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:06:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:06:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:06:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:06:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:06:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:06:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:06:25 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 10:06:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:06:25 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 10:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017402m	[env.py: 870]
+05/10 10:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:06:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94741523  1.00717837 -0.01740219] yaw=-140.8deg	[env.py: 1019]
+05/10 10:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:06:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7181274   0.38825004 -0.01740219] yaw=179.4deg	[env.py: 1019]
+05/10 10:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98710439  0.98468756 -0.01740219] yaw=-136.4deg	[env.py: 1019]
+05/10 10:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:06:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=340.9ms, total=340.9ms	[env.py: 1075]
+05/10 10:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.947, 1.007, -0.017)	[env.py: 1079]
+05/10 10:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.8 deg	[env.py: 1082]
+05/10 10:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
+05/10 10:06:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:06:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:06:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:06:26 INFO: [Worker 0] Worker 0 house 1 episode 157/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:06:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:06:26 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 10:06:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:06:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:06:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.785s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:06:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.502[m] 91.796[deg]	[grasp_sample.py: 539]
+05/10 10:06:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:06:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:06:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:06:46 INFO: [Worker 0] Saved videos eagerly for episode 110 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:06:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 10:06:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:07:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:07:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:07:02 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.47s (batch: 5.39s, save: 11.08s)	[pipeline.py: 300]
+05/10 10:07:03 INFO: [Worker 0] [PROFILE] Episode 146 house 1 success=True episode_total=0.57s:
+  episode_total: mean=226.99s, total=226.99s, count=1, min=226993.0ms, max=226993.0ms
+  sensor_polling: mean=559.5ms, total=167.85s, count=300, min=463.7ms, max=1201.5ms
+  save_trajectories: mean=11.08s, total=11.08s, count=1, min=11080.4ms, max=11080.4ms
+  physics_step: mean=27.3ms, total=8.18s, count=300, min=19.1ms, max=86.6ms
+  save_batch_prep: mean=5.39s, total=5.39s, count=1, min=5390.7ms, max=5390.7ms
+  task_sampling: mean=566.2ms, total=566.2ms, count=1, min=566.2ms, max=566.2ms
+  task_specific_sample: mean=562.3ms, total=562.3ms, count=1, min=562.3ms, max=562.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=488.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:07:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:07:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:07:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:07:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:07:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:07:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:07:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:07:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:07:05 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 10:07:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:07:05 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 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015789m	[env.py: 870]
+05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:07:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9560355   0.45894708  0.01578888] yaw=167.4deg	[env.py: 1019]
+05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81438145  0.04760606  0.01578888] yaw=144.3deg	[env.py: 1019]
+05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97391942  0.44755359  0.01578888] yaw=175.7deg	[env.py: 1019]
+05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:07:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.4ms, total=204.4ms	[env.py: 1075]
+05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.956, 0.459, 0.016)	[env.py: 1079]
+05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.4 deg	[env.py: 1082]
+05/10 10:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.747m	[env.py: 1086]
+05/10 10:07:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:07:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:07:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:07:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:07:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:07:05 INFO: [Worker 0] Worker 0 house 1 episode 147/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:07:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:07:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:07:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:07:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:07:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:07:06 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.320[m] 93.154[deg]	[grasp_sample.py: 539]
+05/10 10:07:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:07:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:07:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:07:18 INFO: [Worker 0] Worker 0 house 1 episode 150 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:07:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:07:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:07:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:07:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:07:44 INFO: [Worker 0] Saved videos eagerly for episode 113 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:07:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 10:07:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:07:45 INFO: [Worker 0] Worker 0 house 1 episode 145 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:07:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:07:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:07:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:07:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:07:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.16s (batch: 4.34s, save: 8.82s)	[pipeline.py: 300]
+05/10 10:07:57 INFO: [Worker 0] [PROFILE] Episode 150 house 1 success=True episode_total=0.52s:
+  episode_total: mean=221.95s, total=221.95s, count=1, min=221947.0ms, max=221947.0ms
+  sensor_polling: mean=554.1ms, total=166.24s, count=300, min=456.7ms, max=1066.5ms
+  save_trajectories: mean=8.82s, total=8.82s, count=1, min=8820.8ms, max=8820.8ms
+  physics_step: mean=27.3ms, total=8.20s, count=300, min=20.0ms, max=86.5ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4341.8ms, max=4341.8ms
+  task_sampling: mean=518.1ms, total=518.1ms, count=1, min=518.1ms, max=518.1ms
+  task_specific_sample: mean=513.3ms, total=513.3ms, count=1, min=513.3ms, max=513.3ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=548.6us, 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 10:07:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:07:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:07:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:07:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:07:59 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 10:07:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:07:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023855m	[env.py: 870]
+05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:07:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93007692  1.05952309  0.02385533] yaw=-153.4deg	[env.py: 1019]
+05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95241584  0.81264022  0.02385533] yaw=-157.6deg	[env.py: 1019]
+05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.76118494  0.33923057  0.02385533] yaw=171.4deg	[env.py: 1019]
+05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:07:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=239.4ms, total=239.4ms	[env.py: 1075]
+05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 1.060, 0.024)	[env.py: 1079]
+05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.4 deg	[env.py: 1082]
+05/10 10:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
+05/10 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:07:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:08:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:08:00 INFO: [Worker 0] Worker 0 house 1 episode 151/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:08:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:08:00 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 10:08:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:08:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:08:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.618s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:08:01 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.592[m] 93.609[deg]	[grasp_sample.py: 539]
+05/10 10:08:03 ERROR: [Worker 0] Worker 0 house 1 episode 151 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 10:08:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:08:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:08:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:08:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:08:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:08:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:08:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:08:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:08:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:08:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:08:04 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 10:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012006m	[env.py: 870]
+05/10 10:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:08:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92692017  0.41299015  0.01200566] yaw=182.6deg	[env.py: 1019]
+05/10 10:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:08:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96445934  1.16346012  0.01200566] yaw=-142.4deg	[env.py: 1019]
+05/10 10:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:08:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=235.4ms, total=235.4ms	[env.py: 1075]
+05/10 10:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.927, 0.413, 0.012)	[env.py: 1079]
+05/10 10:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.6 deg	[env.py: 1082]
+05/10 10:08:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.778m	[env.py: 1086]
+05/10 10:08:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:08:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:08:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:08:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:08:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:08:05 INFO: [Worker 0] Worker 0 house 1 episode 152/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:08:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:08:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:08:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:08:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:08:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.504s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:08:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.322[m] 82.163[deg]	[grasp_sample.py: 539]
+05/10 10:08:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:08:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:08:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:08:07 INFO: [Worker 0] Saved videos eagerly for episode 108 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:08:07 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 10:08:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:08:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:08:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:08:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.13s (batch: 4.54s, save: 8.60s)	[pipeline.py: 300]
+05/10 10:08:21 INFO: [Worker 0] [PROFILE] Episode 145 house 1 success=True episode_total=0.49s:
+  episode_total: mean=220.53s, total=220.53s, count=1, min=220527.4ms, max=220527.4ms
+  sensor_polling: mean=566.5ms, total=169.96s, count=300, min=459.8ms, max=1087.2ms
+  save_trajectories: mean=8.60s, total=8.60s, count=1, min=8597.3ms, max=8597.3ms
+  physics_step: mean=28.5ms, total=8.55s, count=300, min=19.3ms, max=107.3ms
+  save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4536.2ms, max=4536.2ms
+  task_sampling: mean=490.4ms, total=490.4ms, count=1, min=490.4ms, max=490.4ms
+  task_specific_sample: mean=486.5ms, total=486.5ms, count=1, min=486.5ms, max=486.5ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=463.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:08:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:08:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:08:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:08:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:08:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:08:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:08:23 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 10:08:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:08:23 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 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016358m	[env.py: 870]
+05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:08:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.22600572  1.06326767  0.01635841] yaw=-130.4deg	[env.py: 1019]
+05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05661054  1.09742338  0.01635841] yaw=-146.8deg	[env.py: 1019]
+05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66268955  0.66578036  0.01635841] yaw=-160.2deg	[env.py: 1019]
+05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:08:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.9ms, total=111.0ms	[env.py: 1075]
+05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.226, 1.063, 0.016)	[env.py: 1079]
+05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.4 deg	[env.py: 1082]
+05/10 10:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.752m	[env.py: 1086]
+05/10 10:08:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:08:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:08:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:08:23 INFO: [Worker 0] Worker 0 house 1 episode 146/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:08:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:08:23 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 10:08:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:08:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:08:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.590s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:08:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.357[m] 93.972[deg]	[grasp_sample.py: 539]
+05/10 10:08:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:08:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:08:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:08:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:08:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:08:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:09:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:09:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:09:23 INFO: [Worker 0] Worker 0 house 1 episode 157 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:09:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:09:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:09:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:09:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:09:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:09:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:09:53 INFO: [Worker 0] Saved videos eagerly for episode 101 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:09:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 10:09:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:09:54 INFO: [Worker 0] Worker 0 house 1 episode 147 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:09:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:09:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:09:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:09:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:09:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:09:58 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 10:09:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:09:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:10:00 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.149s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:10:00 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.645[deg]	[grasp_sample.py: 539]
+05/10 10:10:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:10:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:10:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:10:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:10:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:10:07 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.59s (batch: 4.71s, save: 9.88s)	[pipeline.py: 300]
+05/10 10:10:08 INFO: [Worker 0] [PROFILE] Episode 157 house 1 success=True episode_total=0.70s:
+  episode_total: mean=223.15s, total=223.15s, count=1, min=223152.8ms, max=223152.8ms
+  sensor_polling: mean=538.8ms, total=161.65s, count=300, min=453.7ms, max=940.9ms
+  save_trajectories: mean=9.88s, total=9.88s, count=1, min=9877.5ms, max=9877.5ms
+  physics_step: mean=26.6ms, total=7.99s, count=300, min=19.6ms, max=120.5ms
+  save_batch_prep: mean=4.71s, total=4.71s, count=1, min=4714.8ms, max=4714.8ms
+  task_sampling: mean=699.3ms, total=699.3ms, count=1, min=699.3ms, max=699.3ms
+  task_specific_sample: mean=694.4ms, total=694.4ms, count=1, min=694.4ms, max=694.4ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=642.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:10:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:10:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:10:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:10:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:10:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:10:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:10:11 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 10:10:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:10:11 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 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033486m	[env.py: 870]
+05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:10:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96241873  0.68934798  0.03348631] yaw=-164.5deg	[env.py: 1019]
+05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86681197  0.84834215  0.03348631] yaw=-151.6deg	[env.py: 1019]
+05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:10:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=306.3ms, total=306.3ms	[env.py: 1075]
+05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.962, 0.689, 0.033)	[env.py: 1079]
+05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.5 deg	[env.py: 1082]
+05/10 10:10:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.768m	[env.py: 1086]
+05/10 10:10:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:10:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:10:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:10:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:10:11 INFO: [Worker 0] Worker 0 house 1 episode 158/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:10:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:10:12 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 10:10:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:10:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:10:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.266s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:10:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.310[m] 85.296[deg]	[grasp_sample.py: 539]
+05/10 10:10:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:10:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:10:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:10:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:10:28 INFO: [Worker 0] Saved videos eagerly for episode 111 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:10:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 10:10:28 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
+05/10 10:10:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:10:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:10:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:10:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:10:42 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.72s (batch: 4.68s, save: 9.03s)	[pipeline.py: 300]
+05/10 10:10:42 INFO: [Worker 0] [PROFILE] Episode 147 house 1 success=True episode_total=0.50s:
+  episode_total: mean=217.61s, total=217.61s, count=1, min=217614.5ms, max=217614.5ms
+  sensor_polling: mean=541.2ms, total=154.25s, count=285, min=463.3ms, max=1031.2ms
+  save_trajectories: mean=9.03s, total=9.03s, count=1, min=9031.1ms, max=9031.1ms
+  physics_step: mean=29.3ms, total=8.35s, count=285, min=16.2ms, max=135.2ms
+  save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4684.8ms, max=4684.8ms
+  task_sampling: mean=498.3ms, total=498.3ms, count=1, min=498.3ms, max=498.3ms
+  task_specific_sample: mean=494.0ms, total=494.0ms, count=1, min=494.0ms, max=494.0ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=548.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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 10:10:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:10:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:10:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:10:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:10:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:10:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:10:44 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 10:10:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:10:44 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 10:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013233m	[env.py: 870]
+05/10 10:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:10:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85711701  0.93837973 -0.01323256] yaw=-154.5deg	[env.py: 1019]
+05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.18306279  1.00461233 -0.01323256] yaw=-135.5deg	[env.py: 1019]
+05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 127.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0012205   0.87522718 -0.01323256] yaw=-156.4deg	[env.py: 1019]
+05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:10:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=566.2ms, total=566.3ms	[env.py: 1075]
+05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.857, 0.938, -0.013)	[env.py: 1079]
+05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.5 deg	[env.py: 1082]
+05/10 10:10:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m	[env.py: 1086]
+05/10 10:10:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:10:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:10:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:10:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:10:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:10:45 INFO: [Worker 0] Worker 0 house 1 episode 148/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:10:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.156s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:10:45 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 10:10:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:10:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:10:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.768s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:10:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.505[m] 84.473[deg]	[grasp_sample.py: 539]
+05/10 10:10:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:10:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:10:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:10:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:10:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:10:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:10:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:10:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:10:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:11:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:11:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:11:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:11:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:11:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:11:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:11:03 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 10:11:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:11:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:11:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:11:05 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.808s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:11:05 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.311[deg]	[grasp_sample.py: 539]
+05/10 10:11:06 ERROR: [Worker 0] Worker 0 house 1 episode 146 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 10:11:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:11:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:11:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:11:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:11:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:11:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:11:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:11:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:11:08 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 10:11:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:11:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.023m, effective arm-mount z=0.837m (base_body_z=-0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.022867m	[env.py: 870]
+05/10 10:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:11:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78264889  0.55382173 -0.02286671] yaw=-186.2deg	[env.py: 1019]
+05/10 10:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70647713  0.18216666 -0.02286671] yaw=167.8deg	[env.py: 1019]
+05/10 10:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:11:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:11:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10815788  1.05002284 -0.02286671] yaw=-138.8deg	[env.py: 1019]
+05/10 10:11:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:11:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:11:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=833.9ms, total=834.0ms	[env.py: 1075]
+05/10 10:11:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.783, 0.554, -0.023)	[env.py: 1079]
+05/10 10:11:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.2 deg	[env.py: 1082]
+05/10 10:11:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
+05/10 10:11:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:11:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:11:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:11:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:11:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:11:09 INFO: [Worker 0] Worker 0 house 1 episode 147/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:11:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:11:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:11:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:11:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:11:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.124s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:11:10 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.492[m] 90.596[deg]	[grasp_sample.py: 539]
+05/10 10:11:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:11:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:11:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:11:23 INFO: [Worker 0] Worker 0 house 1 episode 152 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:11:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:11:48 INFO: [Worker 0] Saved videos eagerly for episode 114 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:11:48 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 10:11:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:11:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:12:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:12:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:12:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:12:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.03s (batch: 4.17s, save: 10.86s)	[pipeline.py: 300]
+05/10 10:12:03 INFO: [Worker 0] [PROFILE] Episode 152 house 1 success=True episode_total=1.09s:
+  episode_total: mean=121.23s, total=242.46s, count=2, min=3466.1ms, max=238996.1ms
+  sensor_polling: mean=576.6ms, total=172.98s, count=300, min=457.5ms, max=1389.4ms
+  save_trajectories: mean=10.86s, total=10.86s, count=1, min=10864.5ms, max=10864.5ms
+  physics_step: mean=27.7ms, total=8.32s, count=300, min=19.0ms, max=117.7ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4168.9ms, max=4168.9ms
+  task_sampling: mean=547.2ms, total=1.09s, count=2, min=510.0ms, max=584.4ms
+  task_specific_sample: mean=543.2ms, total=1.09s, count=2, min=506.2ms, max=580.3ms
+  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.6ms, max=2.7ms
+  mj_forward_sync: mean=551.9us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  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 10:12:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:12:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:12:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:12:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:12:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:12:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:12:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:12:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:12:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:12:05 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 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039551m	[env.py: 870]
+05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:12:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77414322  0.98949627  0.03955137] yaw=-142.6deg	[env.py: 1019]
+05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98804249  0.96176682  0.03955137] yaw=-141.8deg	[env.py: 1019]
+05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8029745   0.23223448  0.03955137] yaw=159.3deg	[env.py: 1019]
+05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:12:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.2ms, total=167.2ms	[env.py: 1075]
+05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.774, 0.989, 0.040)	[env.py: 1079]
+05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.6 deg	[env.py: 1082]
+05/10 10:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m	[env.py: 1086]
+05/10 10:12:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:12:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:12:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:12:06 INFO: [Worker 0] Worker 0 house 1 episode 153/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:12:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:12:06 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 10:12:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:12:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:12:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.934s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:12:12 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.625[m] 86.344[deg]	[grasp_sample.py: 539]
+05/10 10:12:13 ERROR: [Worker 0] Worker 0 house 1 episode 153 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 10:12:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:12:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:12:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:12:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:12:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:12:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:12:15 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 10:12:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:12:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049490m	[env.py: 870]
+05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:12:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80648856  0.06582285  0.04948978] yaw=164.6deg	[env.py: 1019]
+05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79791657  0.55052388  0.04948978] yaw=-173.7deg	[env.py: 1019]
+05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0057066   0.93923018  0.04948978] yaw=-136.3deg	[env.py: 1019]
+05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:12:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=477.6ms, total=477.6ms	[env.py: 1075]
+05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.806, 0.066, 0.049)	[env.py: 1079]
+05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.6 deg	[env.py: 1082]
+05/10 10:12:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/10 10:12:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:12:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:12:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:12:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:12:16 INFO: [Worker 0] Worker 0 house 1 episode 154/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:12:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:12:16 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 10:12:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:12:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:12:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:12:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.700s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:12:18 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.558[m] 90.998[deg]	[grasp_sample.py: 539]
+05/10 10:12:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:12:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:12:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:12:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:13:00 INFO: [Worker 0] Worker 0 house 1 episode 158 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:13:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:13:24 INFO: [Worker 0] Saved videos eagerly for episode 102 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:13:24 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 10:13:24 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
+05/10 10:13:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:13:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:13:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:13:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:13:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.45s (batch: 5.71s, save: 8.74s)	[pipeline.py: 300]
+05/10 10:13:39 INFO: [Worker 0] [PROFILE] Episode 158 house 1 success=True episode_total=0.82s:
+  episode_total: mean=208.77s, total=208.77s, count=1, min=208771.4ms, max=208771.4ms
+  sensor_polling: mean=546.9ms, total=154.77s, count=283, min=467.8ms, max=1115.0ms
+  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8740.8ms, max=8740.8ms
+  physics_step: mean=26.6ms, total=7.53s, count=283, min=18.4ms, max=99.2ms
+  save_batch_prep: mean=5.71s, total=5.71s, count=1, min=5706.4ms, max=5706.4ms
+  task_sampling: mean=822.1ms, total=822.1ms, count=1, min=822.1ms, max=822.1ms
+  task_specific_sample: mean=817.7ms, total=817.7ms, count=1, min=817.7ms, max=817.7ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=514.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.1us, 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 10:13:41 INFO: [Worker 0] Worker 0 house 1 episode 148 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:13:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:13:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:13:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:13:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:13:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:13:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:13:41 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 10:13:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:13:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007205m	[env.py: 870]
+05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:13:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90352832  0.51407184 -0.00720512] yaw=-170.6deg	[env.py: 1019]
+05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74813792  0.89669725 -0.00720512] yaw=-147.5deg	[env.py: 1019]
+05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86361221  1.04447513 -0.00720512] yaw=-144.0deg	[env.py: 1019]
+05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:13:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=144.1ms, total=144.2ms	[env.py: 1075]
+05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.904, 0.514, -0.007)	[env.py: 1079]
+05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.6 deg	[env.py: 1082]
+05/10 10:13:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.799m	[env.py: 1086]
+05/10 10:13:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:13:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:13:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:13:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:13:42 INFO: [Worker 0] Worker 0 house 1 episode 159/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:13:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:13:42 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 10:13:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:13:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:13:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.517s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:13:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.356[m] 86.135[deg]	[grasp_sample.py: 539]
+05/10 10:13:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:13:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:13:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:14:02 INFO: [Worker 0] Worker 0 house 1 episode 147 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:14:09 INFO: [Worker 0] Saved videos eagerly for episode 112 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:14:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 10:14:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:14:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:14:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:14:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:14:23 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.09s (batch: 4.61s, save: 9.47s)	[pipeline.py: 300]
+05/10 10:14:24 INFO: [Worker 0] [PROFILE] Episode 148 house 1 success=True episode_total=0.93s:
+  episode_total: mean=219.86s, total=219.86s, count=1, min=219858.6ms, max=219858.6ms
+  sensor_polling: mean=534.9ms, total=160.46s, count=300, min=454.0ms, max=1007.0ms
+  save_trajectories: mean=9.47s, total=9.47s, count=1, min=9474.6ms, max=9474.6ms
+  physics_step: mean=26.7ms, total=8.01s, count=300, min=18.8ms, max=119.1ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4612.7ms, max=4612.7ms
+  task_sampling: mean=933.7ms, total=933.7ms, count=1, min=933.7ms, max=933.7ms
+  task_specific_sample: mean=928.6ms, total=928.6ms, count=1, min=928.6ms, max=928.6ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=633.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=40.2us, 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 10:14:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:14:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:14:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:14:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:14:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:14:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:14:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:14:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:14:26 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 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014738m	[env.py: 870]
+05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:14:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96513014  0.49543978 -0.01473835] yaw=-171.8deg	[env.py: 1019]
+05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:14:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=182.0ms, total=182.1ms	[env.py: 1075]
+05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.965, 0.495, -0.015)	[env.py: 1079]
+05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.8 deg	[env.py: 1082]
+05/10 10:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.737m	[env.py: 1086]
+05/10 10:14:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:14:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:14:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:14:27 INFO: [Worker 0] Worker 0 house 1 episode 149/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:14:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.175s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:14:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:14:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:14:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.154s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:14:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.644s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:14:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.272[m] 84.328[deg]	[grasp_sample.py: 539]
+05/10 10:14:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:14:28 INFO: [Worker 0] Saved videos eagerly for episode 109 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:14:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 10:14:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:14:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:14:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:14:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:14:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:14:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:14:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:14:43 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.58s (batch: 4.45s, save: 10.13s)	[pipeline.py: 300]
+05/10 10:14:44 INFO: [Worker 0] [PROFILE] Episode 147 house 1 success=True episode_total=1.58s:
+  episode_total: mean=189.51s, total=379.03s, count=2, min=163336.3ms, max=215693.4ms
+  sensor_polling: mean=544.3ms, total=297.18s, count=546, min=453.8ms, max=1115.8ms
+  physics_step: mean=27.7ms, total=15.11s, count=546, min=18.8ms, max=84.6ms
+  save_trajectories: mean=10.13s, total=10.13s, count=1, min=10127.1ms, max=10127.1ms
+  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4454.4ms, max=4454.4ms
+  task_sampling: mean=789.8ms, total=1.58s, count=2, min=447.0ms, max=1132.5ms
+  task_specific_sample: mean=785.9ms, total=1.57s, count=2, min=443.0ms, max=1128.7ms
+  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.6ms, max=2.7ms
+  mj_forward_sync: mean=498.5us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:14:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:14:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:14:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:14:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:14:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:14:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:14:45 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 10:14:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:14:45 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 10:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000146m	[env.py: 870]
+05/10 10:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:14:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-7.89925854e-01  1.65626797e-01 -1.45960558e-04] yaw=167.3deg	[env.py: 1019]
+05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-9.97868145e-01  1.04090555e+00 -1.45960558e-04] yaw=-150.7deg	[env.py: 1019]
+05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-8.17732078e-01  8.80215306e-01 -1.45960558e-04] yaw=-150.9deg	[env.py: 1019]
+05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:14:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=238.5ms, total=238.6ms	[env.py: 1075]
+05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.790, 0.166, -0.000)	[env.py: 1079]
+05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.3 deg	[env.py: 1082]
+05/10 10:14:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m	[env.py: 1086]
+05/10 10:14:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:14:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:14:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:14:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:14:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:14:46 INFO: [Worker 0] Worker 0 house 1 episode 148/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:14:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:14:46 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 10:14:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:14:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:14:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.570s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:14:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.502[m] 87.989[deg]	[grasp_sample.py: 539]
+05/10 10:14:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:14:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:14:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:14:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:15:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:15:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:15:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:15:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:15:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:15:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:15:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:15:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:15:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:15:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:15:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:15:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:15:28 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 10:15:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:15:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.129s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:15:29 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.810s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:15:29 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.202[deg]	[grasp_sample.py: 539]
+05/10 10:15:31 ERROR: [Worker 0] Worker 0 house 1 episode 154 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 10:15:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:15:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:15:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:15:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:15:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:15:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:15:33 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 10:15:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:15:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048973m	[env.py: 870]
+05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:15:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01222985  1.11487387  0.04897325] yaw=-139.7deg	[env.py: 1019]
+05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.71490815  0.04785565  0.04897325] yaw=158.3deg	[env.py: 1019]
+05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:15:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=453.9ms, total=453.9ms	[env.py: 1075]
+05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.012, 1.115, 0.049)	[env.py: 1079]
+05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.7 deg	[env.py: 1082]
+05/10 10:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
+05/10 10:15:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:15:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:15:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:15:34 INFO: [Worker 0] Worker 0 house 1 episode 155/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:15:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:15:34 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 10:15:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:15:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:15:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.084s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:15:38 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.517[m] 87.432[deg]	[grasp_sample.py: 539]
+05/10 10:15:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:15:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:15:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:15:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:15:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:16:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:16:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:16:47 INFO: [Worker 0] Worker 0 house 1 episode 159 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:16:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:16:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:17:16 INFO: [Worker 0] Saved videos eagerly for episode 103 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:17:16 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 10:17:16 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
+05/10 10:17:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:17:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:17:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.54s (batch: 6.82s, save: 10.72s)	[pipeline.py: 300]
+05/10 10:17:34 INFO: [Worker 0] [PROFILE] Episode 159 house 1 success=True episode_total=0.51s:
+  episode_total: mean=233.25s, total=233.25s, count=1, min=233249.7ms, max=233249.7ms
+  sensor_polling: mean=564.7ms, total=164.88s, count=292, min=469.7ms, max=1025.2ms
+  save_trajectories: mean=10.72s, total=10.72s, count=1, min=10722.2ms, max=10722.2ms
+  physics_step: mean=30.5ms, total=8.90s, count=292, min=18.7ms, max=137.4ms
+  save_batch_prep: mean=6.82s, total=6.82s, count=1, min=6816.3ms, max=6816.3ms
+  task_sampling: mean=506.4ms, total=506.4ms, count=1, min=506.4ms, max=506.4ms
+  task_specific_sample: mean=501.1ms, total=501.1ms, count=1, min=501.1ms, max=501.1ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=686.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=21.7us, 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 10:17:36 INFO: [Worker 0] Worker 0 house 1 episode 149 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:17:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:17:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:17:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:17:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:17:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:17:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:17:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:17:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:17:36 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 10:17:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:17:36 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 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.022342m	[env.py: 870]
+05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:17:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75545918  0.10399822 -0.02234208] yaw=150.8deg	[env.py: 1019]
+05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.7628677   0.85538126 -0.02234208] yaw=-155.8deg	[env.py: 1019]
+05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:17:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=226.6ms, total=226.6ms	[env.py: 1075]
+05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.755, 0.104, -0.022)	[env.py: 1079]
+05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.8 deg	[env.py: 1082]
+05/10 10:17:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m	[env.py: 1086]
+05/10 10:17:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:17:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:17:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:17:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:17:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:17:37 INFO: [Worker 0] Worker 0 house 1 episode 160/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:17:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:17:37 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 10:17:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:17:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:17:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.743s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:17:39 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.570[m] 86.938[deg]	[grasp_sample.py: 539]
+05/10 10:17:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:17:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:17:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:17:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:17:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:17:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:17:58 INFO: [Worker 0] Saved videos eagerly for episode 113 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:17:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 10:17:58 INFO: [Worker 0] Preparing episode data: 276 timesteps	[save_utils.py: 278]
+05/10 10:17:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:18:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:18:01 INFO: [Worker 0] Worker 0 house 1 episode 148 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:18:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:18:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:18:11 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.67s (batch: 4.02s, save: 8.65s)	[pipeline.py: 300]
+05/10 10:18:11 INFO: [Worker 0] [PROFILE] Episode 149 house 1 success=True episode_total=0.54s:
+  episode_total: mean=225.26s, total=225.26s, count=1, min=225264.1ms, max=225264.1ms
+  sensor_polling: mean=574.0ms, total=157.85s, count=275, min=452.0ms, max=1186.7ms
+  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8648.7ms, max=8648.7ms
+  physics_step: mean=29.6ms, total=8.15s, count=275, min=17.0ms, max=135.5ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4022.7ms, max=4022.7ms
+  task_sampling: mean=538.9ms, total=538.9ms, count=1, min=538.9ms, max=538.9ms
+  task_specific_sample: mean=534.8ms, total=534.8ms, count=1, min=534.8ms, max=534.8ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=442.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:18:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:18:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:18:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:18:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:18:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:18:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:18:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019012m	[env.py: 870]
+05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:18:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.08282066  1.17452014  0.01901158] yaw=-137.5deg	[env.py: 1019]
+05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89711194  0.89170995  0.01901158] yaw=-144.4deg	[env.py: 1019]
+05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.07602962  0.87669653  0.01901158] yaw=-156.9deg	[env.py: 1019]
+05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:18:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.7ms, total=119.8ms	[env.py: 1075]
+05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.083, 1.175, 0.019)	[env.py: 1079]
+05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.5 deg	[env.py: 1082]
+05/10 10:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m	[env.py: 1086]
+05/10 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:18:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:18:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:18:14 INFO: [Worker 0] Worker 0 house 1 episode 150/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:18:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:18:14 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 10:18:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:18:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:18:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.729s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:18:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.535[m] 87.345[deg]	[grasp_sample.py: 539]
+05/10 10:18:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:18:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:18:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:18:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:18:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:18:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:18:27 INFO: [Worker 0] Saved videos eagerly for episode 110 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:18:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 10:18:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:18:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:18:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:18:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:18:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:18:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:18:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:18:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:18:34 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 10:18:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:18:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:18:37 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.556s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:18:37 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.110[m] 0.829[deg]	[grasp_sample.py: 539]
+05/10 10:18:39 ERROR: [Worker 0] Worker 0 house 1 episode 155 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 10:18:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:18:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:18:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:18:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:18:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:18:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:18:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:18:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:18:40 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 10:18:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:18:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:18:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:18:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:18:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012128m	[env.py: 870]
+05/10 10:18:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:18:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87747991  0.50715617 -0.01212786] yaw=-181.7deg	[env.py: 1019]
+05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97408938  0.7755022  -0.01212786] yaw=-151.9deg	[env.py: 1019]
+05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06450852  0.99800274 -0.01212786] yaw=-148.5deg	[env.py: 1019]
+05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:18:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.0ms, total=122.0ms	[env.py: 1075]
+05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.877, 0.507, -0.012)	[env.py: 1079]
+05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.7 deg	[env.py: 1082]
+05/10 10:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/10 10:18:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:18:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:18:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:18:41 INFO: [Worker 0] Worker 0 house 1 episode 156/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:18:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:18:41 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 10:18:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:18:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:18:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:18:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:18:41 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.56s (batch: 4.51s, save: 10.05s)	[pipeline.py: 300]
+05/10 10:18:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.485s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:18:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.386[m] 92.285[deg]	[grasp_sample.py: 539]
+05/10 10:18:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:18:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:18:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:18:42 INFO: [Worker 0] [PROFILE] Episode 148 house 1 success=True episode_total=0.61s:
+  episode_total: mean=236.79s, total=236.79s, count=1, min=236794.9ms, max=236794.9ms
+  sensor_polling: mean=575.5ms, total=172.65s, count=300, min=464.6ms, max=1158.0ms
+  save_trajectories: mean=10.05s, total=10.05s, count=1, min=10050.0ms, max=10050.0ms
+  physics_step: mean=29.9ms, total=8.97s, count=300, min=15.6ms, max=124.7ms
+  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4511.3ms, max=4511.3ms
+  task_sampling: mean=605.9ms, total=605.9ms, count=1, min=605.9ms, max=605.9ms
+  task_specific_sample: mean=600.6ms, total=600.6ms, count=1, min=600.6ms, max=600.6ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=708.2us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=25.7us, 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 10:18:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:18:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:18:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:18:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:18:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:18:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:18:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:18:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:18:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:18:44 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 10:18:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:18:44 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 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034182m	[env.py: 870]
+05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:18:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88937455  1.17090155  0.03418164] yaw=-131.6deg	[env.py: 1019]
+05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.71034564  0.82354736  0.03418164] yaw=-152.9deg	[env.py: 1019]
+05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93413686  0.51727021  0.03418164] yaw=-187.8deg	[env.py: 1019]
+05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:18:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=230.8ms, total=230.8ms	[env.py: 1075]
+05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.889, 1.171, 0.034)	[env.py: 1079]
+05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.6 deg	[env.py: 1082]
+05/10 10:18:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m	[env.py: 1086]
+05/10 10:18:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:18:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:18:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:18:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:18:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:18:45 INFO: [Worker 0] Worker 0 house 1 episode 149/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:18:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:18:45 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 10:18:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:18:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:18:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.736s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:18:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.643[m] 91.871[deg]	[grasp_sample.py: 539]
+05/10 10:18:48 ERROR: [Worker 0] Worker 0 house 1 episode 149 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 10:18:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:18:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:18:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:18:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:18:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:18:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:18:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:18:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:18:50 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 10:18:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:18:50 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 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005694m	[env.py: 870]
+05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:18:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.16364947  1.1371821   0.00569439] yaw=-120.9deg	[env.py: 1019]
+05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65117295  0.47351328  0.00569439] yaw=175.1deg	[env.py: 1019]
+05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.14537532  1.12881586  0.00569439] yaw=-140.6deg	[env.py: 1019]
+05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:18:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=238.3ms, total=238.3ms	[env.py: 1075]
+05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.164, 1.137, 0.006)	[env.py: 1079]
+05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -120.9 deg	[env.py: 1082]
+05/10 10:18:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
+05/10 10:18:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:18:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:18:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:18:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:18:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:18:50 INFO: [Worker 0] Worker 0 house 1 episode 150/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:18:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:18:50 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 10:18:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:18:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.130s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:18:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.670s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:18:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.438[m] 89.654[deg]	[grasp_sample.py: 539]
+05/10 10:18:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:18:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:18:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:18:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:19:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:19:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:19:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:19:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:19:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:19:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:19:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:19:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:19:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:19:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:20:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:20:39 INFO: [Worker 0] Worker 0 house 1 episode 160 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:20:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:20:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:20:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:20:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:20:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:20:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:20:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:20:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:20:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:20:52 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 10:20:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:20:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:20:54 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.807s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:20:54 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.279[deg]	[grasp_sample.py: 539]
+05/10 10:20:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:20:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:20:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:21:06 INFO: [Worker 0] Saved videos eagerly for episode 104 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:21:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 10:21:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:21:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:21:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:21:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:21:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:21:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:21:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:21:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:21:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:21:21 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.52s (batch: 5.15s, save: 10.37s)	[pipeline.py: 300]
+05/10 10:21:22 INFO: [Worker 0] [PROFILE] Episode 160 house 1 success=True episode_total=0.54s:
+  episode_total: mean=225.80s, total=225.80s, count=1, min=225795.9ms, max=225795.9ms
+  sensor_polling: mean=555.9ms, total=166.78s, count=300, min=450.7ms, max=1063.4ms
+  save_trajectories: mean=10.37s, total=10.37s, count=1, min=10372.0ms, max=10372.0ms
+  physics_step: mean=29.7ms, total=8.92s, count=300, min=19.1ms, max=83.4ms
+  save_batch_prep: mean=5.15s, total=5.15s, count=1, min=5146.2ms, max=5146.2ms
+  task_sampling: mean=541.1ms, total=541.1ms, count=1, min=541.1ms, max=541.1ms
+  task_specific_sample: mean=537.2ms, total=537.2ms, count=1, min=537.2ms, max=537.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=414.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.7us, 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 10:21:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:21:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:21:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:21:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:21:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:21:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:21:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:21:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:21:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:21:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:21:24 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 10:21:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:21:24 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 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012392m	[env.py: 870]
+05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:21:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90044601  0.4506536   0.01239184] yaw=167.0deg	[env.py: 1019]
+05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83803793  0.20241735  0.01239184] yaw=166.6deg	[env.py: 1019]
+05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77114276  0.05882707  0.01239184] yaw=145.1deg	[env.py: 1019]
+05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:21:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:21:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=559.3ms, total=559.3ms	[env.py: 1075]
+05/10 10:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.451, 0.012)	[env.py: 1079]
+05/10 10:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.0 deg	[env.py: 1082]
+05/10 10:21:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/10 10:21:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:21:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:21:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:21:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:21:25 INFO: [Worker 0] Worker 0 house 1 episode 161/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:21:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.142s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:21:25 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 10:21:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:21:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:21:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:21:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.760s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:21:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.360[m] 84.044[deg]	[grasp_sample.py: 539]
+05/10 10:21:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:21:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:21:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:21:27 INFO: [Worker 0] Worker 0 house 1 episode 150 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:21:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:21:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:21:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 10:21:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 10:21:29 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 10:21:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:21:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:21:31 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.310s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:21:31 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.323[deg]	[grasp_sample.py: 539]
+05/10 10:21:33 ERROR: [Worker 0] Worker 0 house 1 episode 150 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 10:21:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:21:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:21:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:21:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:21:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:21:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:21:34 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 10:21:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:21:34 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 10:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.032805m	[env.py: 870]
+05/10 10:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:21:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99600755  0.42206074 -0.03280543] yaw=182.4deg	[env.py: 1019]
+05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79066609  0.51922224 -0.03280543] yaw=-181.9deg	[env.py: 1019]
+05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74881546  0.82000304 -0.03280543] yaw=-169.9deg	[env.py: 1019]
+05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:21:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=310.1ms, total=310.2ms	[env.py: 1075]
+05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.996, 0.422, -0.033)	[env.py: 1079]
+05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.4 deg	[env.py: 1082]
+05/10 10:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.709m	[env.py: 1086]
+05/10 10:21:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:21:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:21:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:21:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:21:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:21:35 INFO: [Worker 0] Worker 0 house 1 episode 151/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:21:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:21:35 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 10:21:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:21:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:21:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:21:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.319[m] 95.864[deg]	[grasp_sample.py: 539]
+05/10 10:21:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:21:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:21:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:21:45 INFO: [Worker 0] Worker 0 house 1 episode 156 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:21:52 INFO: [Worker 0] Saved videos eagerly for episode 114 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:21:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 10:21:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:22:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:22:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:22:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:22:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.07s (batch: 4.59s, save: 11.47s)	[pipeline.py: 300]
+05/10 10:22:09 INFO: [Worker 0] [PROFILE] Episode 150 house 1 success=True episode_total=0.41s:
+  episode_total: mean=236.17s, total=236.17s, count=1, min=236170.1ms, max=236170.1ms
+  sensor_polling: mean=553.9ms, total=166.17s, count=300, min=451.8ms, max=913.5ms
+  save_trajectories: mean=11.47s, total=11.47s, count=1, min=11472.7ms, max=11472.7ms
+  physics_step: mean=27.5ms, total=8.24s, count=300, min=16.8ms, max=123.6ms
+  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4594.4ms, max=4594.4ms
+  task_sampling: mean=414.9ms, total=414.9ms, count=1, min=414.9ms, max=414.9ms
+  task_specific_sample: mean=411.4ms, total=411.4ms, count=1, min=411.4ms, max=411.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=420.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:22:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:22:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:22:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:22:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:22:11 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 10:22:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:22:11 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 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021568m	[env.py: 870]
+05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:22:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92757101  1.0277865  -0.02156795] yaw=-147.7deg	[env.py: 1019]
+05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81102705  0.08119564 -0.02156795] yaw=156.8deg	[env.py: 1019]
+05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81313514  0.51958752 -0.02156795] yaw=-167.7deg	[env.py: 1019]
+05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:22:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.4ms, total=133.4ms	[env.py: 1075]
+05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.928, 1.028, -0.022)	[env.py: 1079]
+05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.7 deg	[env.py: 1082]
+05/10 10:22:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
+05/10 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:22:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:22:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:22:12 INFO: [Worker 0] Worker 0 house 1 episode 151/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:22:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:22:12 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 10:22:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:22:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:22:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:22:19 INFO: [Worker 0] Saved videos eagerly for episode 115 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:22:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 10:22:19 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/10 10:22:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:22:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 9.504s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:22:21 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.518[m] 86.248[deg]	[grasp_sample.py: 539]
+05/10 10:22:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:22:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:22:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:22:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:22:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:22:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:22:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:22:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:22:34 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.35s (batch: 5.33s, save: 10.02s)	[pipeline.py: 300]
+05/10 10:22:35 INFO: [Worker 0] [PROFILE] Episode 156 house 1 success=True episode_total=2.44s:
+  episode_total: mean=156.10s, total=624.39s, count=4, min=8078.0ms, max=234740.6ms
+  sensor_polling: mean=551.4ms, total=483.03s, count=876, min=444.5ms, max=1160.1ms
+  physics_step: mean=28.4ms, total=24.91s, count=876, min=16.4ms, max=126.1ms
+  save_trajectories: mean=10.02s, total=10.02s, count=1, min=10020.1ms, max=10020.1ms
+  save_batch_prep: mean=5.33s, total=5.33s, count=1, min=5325.4ms, max=5325.4ms
+  task_sampling: mean=609.6ms, total=2.44s, count=4, min=404.8ms, max=788.3ms
+  task_specific_sample: mean=605.4ms, total=2.42s, count=4, min=400.5ms, max=784.0ms
+  scene_randomize: mean=2.1ms, total=8.3ms, count=4, min=1.3ms, max=3.2ms
+  mj_forward_sync: mean=517.0us, total=2.1ms, count=4, min=0.4ms, max=0.7ms
+  policy_setup: mean=18.4us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 10:22:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:22:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:22:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:22:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:22:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:22:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:22:37 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 10:22:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:22:37 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 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017094m	[env.py: 870]
+05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:22:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75659229  0.81279008  0.01709399] yaw=-152.8deg	[env.py: 1019]
+05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.95430921  0.95781728  0.01709399] yaw=-145.0deg	[env.py: 1019]
+05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:22:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=211.9ms, total=211.9ms	[env.py: 1075]
+05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.757, 0.813, 0.017)	[env.py: 1079]
+05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.8 deg	[env.py: 1082]
+05/10 10:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
+05/10 10:22:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:22:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:22:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:22:38 INFO: [Worker 0] Worker 0 house 1 episode 157/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:22:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:22:38 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 10:22:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:22:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:22:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.873s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:22:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.552[m] 80.908[deg]	[grasp_sample.py: 539]
+05/10 10:22:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:22:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:22:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:23:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:23:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:23:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:23:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:23:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:23:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 10:23:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:23:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:23:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:23:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:23:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 10:24:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:24:19 INFO: [Worker 0] Worker 0 house 1 episode 161 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:24:42 INFO: [Worker 0] Saved videos eagerly for episode 105 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:24:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 10:24:42 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
+05/10 10:24:54 INFO: [Worker 0] Worker 0 house 1 episode 151 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:24:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:24:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:24:57 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.87s (batch: 4.84s, save: 10.03s)	[pipeline.py: 300]
+05/10 10:24:58 INFO: [Worker 0] [PROFILE] Episode 161 house 1 success=True episode_total=0.92s:
+  episode_total: mean=213.65s, total=213.65s, count=1, min=213649.2ms, max=213649.2ms
+  sensor_polling: mean=548.4ms, total=160.14s, count=292, min=442.1ms, max=1048.3ms
+  save_trajectories: mean=10.03s, total=10.03s, count=1, min=10030.2ms, max=10030.2ms
+  physics_step: mean=29.9ms, total=8.73s, count=292, min=19.1ms, max=111.0ms
+  save_batch_prep: mean=4.84s, total=4.84s, count=1, min=4840.5ms, max=4840.5ms
+  task_sampling: mean=922.8ms, total=922.8ms, count=1, min=922.8ms, max=922.8ms
+  task_specific_sample: mean=917.7ms, total=917.7ms, count=1, min=917.7ms, max=917.7ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=667.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=23.2us, 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 10:24:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:24:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:24:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:24:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:24:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:24:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:24:59 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 10:24:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:24:59 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 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.019343m	[env.py: 870]
+05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:24:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.66031375  0.5490551  -0.01934298] yaw=-179.8deg	[env.py: 1019]
+05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.66718784  0.6948131  -0.01934298] yaw=-176.3deg	[env.py: 1019]
+05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80022234  0.71113032 -0.01934298] yaw=-156.7deg	[env.py: 1019]
+05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:24:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.1ms, total=131.1ms	[env.py: 1075]
+05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.660, 0.549, -0.019)	[env.py: 1079]
+05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.8 deg	[env.py: 1082]
+05/10 10:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m	[env.py: 1086]
+05/10 10:24:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:24:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:25:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:25:00 INFO: [Worker 0] Worker 0 house 1 episode 162/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:25:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:25:00 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 10:25:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:25:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:25:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.848s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:25:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.577[m] 84.498[deg]	[grasp_sample.py: 539]
+05/10 10:25:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:25:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:25:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:25:14 INFO: [Worker 0] Worker 0 house 1 episode 151 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:25:19 INFO: [Worker 0] Saved videos eagerly for episode 111 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:25:19 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 10:25:19 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/10 10:25:30 INFO: [Worker 0] Worker 0 house 1 episode 157 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 10:25:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:25:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:25:33 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.28s (batch: 4.40s, save: 8.88s)	[pipeline.py: 300]
+05/10 10:25:33 INFO: [Worker 0] [PROFILE] Episode 151 house 1 success=True episode_total=1.61s:
+  episode_total: mean=135.17s, total=405.52s, count=3, min=3876.4ms, max=238901.3ms
+  sensor_polling: mean=548.0ms, total=290.97s, count=531, min=465.1ms, max=1009.4ms
+  physics_step: mean=26.9ms, total=14.28s, count=531, min=18.2ms, max=169.1ms
+  save_trajectories: mean=8.88s, total=8.88s, count=1, min=8882.4ms, max=8882.4ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4397.3ms, max=4397.3ms
+  task_sampling: mean=535.7ms, total=1.61s, count=3, min=508.0ms, max=575.0ms
+  task_specific_sample: mean=532.2ms, total=1.60s, count=3, min=504.4ms, max=572.2ms
+  scene_randomize: mean=1.9ms, total=5.7ms, count=3, min=1.4ms, max=2.8ms
+  mj_forward_sync: mean=507.0us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=15.7us, total=0.0ms, 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 10:25:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:25:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:25:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:25:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:25:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:25:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:25:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 10:25:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:25:35 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 10:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000892m	[env.py: 870]
+05/10 10:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:25:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 128.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.70431511  0.15506989 -0.00089161] yaw=172.6deg	[env.py: 1019]
+05/10 10:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:25:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=364.7ms, total=364.7ms	[env.py: 1075]
+05/10 10:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.704, 0.155, -0.001)	[env.py: 1079]
+05/10 10:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.6 deg	[env.py: 1082]
+05/10 10:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m	[env.py: 1086]
+05/10 10:25:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:25:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:25:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:25:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:25:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:25:36 INFO: [Worker 0] Worker 0 house 1 episode 152/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:25:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:25:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 10:25:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:25:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:25:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.715s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:25:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.636[m] 96.576[deg]	[grasp_sample.py: 539]
+05/10 10:25:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:25:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:25:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 10:25:38 INFO: [Worker 0] Saved videos eagerly for episode 115 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:25:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 10:25:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:25:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 10:25:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 10:25:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.30s (batch: 4.79s, save: 10.50s)	[pipeline.py: 300]
+05/10 10:25:54 INFO: [Worker 0] [PROFILE] Episode 151 house 1 success=True episode_total=0.48s:
+  episode_total: mean=223.22s, total=223.22s, count=1, min=223224.4ms, max=223224.4ms
+  sensor_polling: mean=535.1ms, total=160.53s, count=300, min=461.8ms, max=929.2ms
+  save_trajectories: mean=10.50s, total=10.50s, count=1, min=10503.5ms, max=10503.5ms
+  physics_step: mean=26.9ms, total=8.08s, count=300, min=19.8ms, max=123.0ms
+  save_batch_prep: mean=4.79s, total=4.79s, count=1, min=4794.4ms, max=4794.4ms
+  task_sampling: mean=481.8ms, total=481.8ms, count=1, min=481.8ms, max=481.8ms
+  task_specific_sample: mean=477.0ms, total=477.0ms, count=1, min=477.0ms, max=477.0ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=489.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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 10:25:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 10:25:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 10:25:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:25:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 10:25:56 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 10:25:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 10:25:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020350m	[env.py: 870]
+05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 10:25:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 127.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84236465  0.4722271   0.02035001] yaw=174.7deg	[env.py: 1019]
+05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0236275   0.20682351  0.02035001] yaw=162.8deg	[env.py: 1019]
+05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97393117  1.20595112  0.02035001] yaw=-137.0deg	[env.py: 1019]
+05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 10:25:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.2ms, total=131.3ms	[env.py: 1075]
+05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.842, 0.472, 0.020)	[env.py: 1079]
+05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.7 deg	[env.py: 1082]
+05/10 10:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
+05/10 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 10:25:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 10:25:56 INFO: [Worker 0] Saved videos eagerly for episode 116 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 10:25:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 10:25:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 10:25:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 10:25:57 INFO: [Worker 0] Worker 0 house 1 episode 152/240 collected=0/40	[pipeline.py: 1044]
+05/10 10:25:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/10 10:25:57 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 10:25:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 10:25:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 10:25:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.529s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 10:25:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.380[m] 84.602[deg]	[grasp_sample.py: 539]
+05/10 10:25:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 10:25:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 10:25:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]