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diff --git a/fridge_7/running_log.log b/fridge_7/running_log.log
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@@ -20915,3 +20915,4655 @@
 05/10 06:12:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
 05/10 06:12:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
 05/10 06:12:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:13:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:13:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:13:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:13:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:13:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:13:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:13:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:14:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:14:13 INFO: [Worker 0] Worker 0 house 1 episode 68 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:14:37 INFO: [Worker 0] Saved videos eagerly for episode 50 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:14:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 06:14:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:14:46 INFO: [Worker 0] Worker 0 house 1 episode 73 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:14:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:14:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:14:50 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.38s (batch: 4.79s, save: 8.59s)	[pipeline.py: 300]
+05/10 06:14:51 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=True episode_total=0.49s:
+  episode_total: mean=192.52s, total=192.52s, count=1, min=192522.2ms, max=192522.2ms
+  sensor_polling: mean=476.7ms, total=143.02s, count=300, min=406.3ms, max=878.2ms
+  save_trajectories: mean=8.59s, total=8.59s, count=1, min=8593.0ms, max=8593.0ms
+  physics_step: mean=24.2ms, total=7.26s, count=300, min=14.7ms, max=57.6ms
+  save_batch_prep: mean=4.79s, total=4.79s, count=1, min=4790.4ms, max=4790.4ms
+  task_sampling: mean=492.1ms, total=492.1ms, count=1, min=492.1ms, max=492.1ms
+  task_specific_sample: mean=488.0ms, total=488.0ms, count=1, min=488.0ms, max=488.0ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=469.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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 06:14:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:14:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:14:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:14:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:14:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:14:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:14:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:14:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:14:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 06:14:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:14:52 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 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028780m	[env.py: 870]
+05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:14:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04459033  0.19570772  0.02877967] yaw=167.8deg	[env.py: 1019]
+05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86851205  0.18642039  0.02877967] yaw=149.3deg	[env.py: 1019]
+05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99928807  0.25517804  0.02877967] yaw=171.8deg	[env.py: 1019]
+05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:14:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.5ms, total=118.5ms	[env.py: 1075]
+05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.045, 0.196, 0.029)	[env.py: 1079]
+05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.8 deg	[env.py: 1082]
+05/10 06:14:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.717m	[env.py: 1086]
+05/10 06:14:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:14:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:14:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:14:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:14:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:14:53 INFO: [Worker 0] Worker 0 house 1 episode 69/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:14:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:14:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 06:14:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:14:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:14:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.508s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:14:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.253[m] 83.641[deg]	[grasp_sample.py: 539]
+05/10 06:14:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:14:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:14:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:15:11 INFO: [Worker 0] Saved videos eagerly for episode 48 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:15:11 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 06:15:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:15:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:15:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:15:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:15:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:15:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:15:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:15:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:15:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:15:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:15:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:15:23 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.89s (batch: 4.34s, save: 7.56s)	[pipeline.py: 300]
+05/10 06:15:24 INFO: [Worker 0] [PROFILE] Episode 73 house 1 success=True episode_total=1.10s:
+  episode_total: mean=93.86s, total=281.59s, count=3, min=3024.7ms, max=199509.5ms
+  sensor_polling: mean=469.3ms, total=206.48s, count=440, min=401.9ms, max=813.6ms
+  physics_step: mean=21.2ms, total=9.31s, count=440, min=13.7ms, max=50.4ms
+  save_trajectories: mean=7.56s, total=7.56s, count=1, min=7557.9ms, max=7557.9ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4336.3ms, max=4336.3ms
+  task_sampling: mean=367.8ms, total=1.10s, count=3, min=355.9ms, max=380.5ms
+  task_specific_sample: mean=364.9ms, total=1.09s, count=3, min=353.0ms, max=377.0ms
+  scene_randomize: mean=1.5ms, total=4.6ms, count=3, min=1.1ms, max=2.3ms
+  mj_forward_sync: mean=388.9us, total=1.2ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.0us, 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 06:15:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:15:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 06:15:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 06:15:24 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 06:15:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:15:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:15:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:15:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:15:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:15:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:15:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:15:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:15:25 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 06:15:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:15:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010281m	[env.py: 870]
+05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:15:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02030732  0.98303599  0.01028056] yaw=-142.9deg	[env.py: 1019]
+05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8149652   0.55607892  0.01028056] yaw=-175.7deg	[env.py: 1019]
+05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.08668651  1.2159381   0.01028056] yaw=-140.2deg	[env.py: 1019]
+05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:15:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.4ms, total=135.4ms	[env.py: 1075]
+05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.983, 0.010)	[env.py: 1079]
+05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.9 deg	[env.py: 1082]
+05/10 06:15:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
+05/10 06:15:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:15:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:15:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:15:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:15:26 INFO: [Worker 0] Worker 0 house 1 episode 74/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:15:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:15:26 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.629s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 06:15:26 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 06:15:26 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 06:15:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:15:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:15:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.570s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:15:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.428[m] 86.858[deg]	[grasp_sample.py: 539]
+05/10 06:15:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:15:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:15:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:15:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:15:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:15:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:15:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:15:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:15:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:15:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:15:27 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 06:15:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:15:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036917m	[env.py: 870]
+05/10 06:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:15:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92814608  0.72513548 -0.0369172 ] yaw=-152.9deg	[env.py: 1019]
+05/10 06:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85545213  0.3457257  -0.0369172 ] yaw=182.2deg	[env.py: 1019]
+05/10 06:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80408471  0.47097595 -0.0369172 ] yaw=185.2deg	[env.py: 1019]
+05/10 06:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:15:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.2ms, total=110.2ms	[env.py: 1075]
+05/10 06:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.928, 0.725, -0.037)	[env.py: 1079]
+05/10 06:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.9 deg	[env.py: 1082]
+05/10 06:15:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
+05/10 06:15:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:15:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:15:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:15:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:15:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:15:28 INFO: [Worker 0] Worker 0 house 1 episode 71/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:15:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:15:28 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 06:15:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:15:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:15:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.447s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:15:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.362[m] 86.862[deg]	[grasp_sample.py: 539]
+05/10 06:15:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:15:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:15:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:15:30 INFO: [Worker 0] Worker 0 house 1 episode 71 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:15:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:15:50 INFO: [Worker 0] Saved videos eagerly for episode 51 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:15:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 06:15:50 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/10 06:15:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:15:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:15:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:15:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:16:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:16:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:16:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:16:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:16:02 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.80s (batch: 3.80s, save: 8.00s)	[pipeline.py: 300]
+05/10 06:16:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:16:03 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=0.38s:
+  episode_total: mean=185.92s, total=185.92s, count=1, min=185920.5ms, max=185920.5ms
+  sensor_polling: mean=483.6ms, total=142.17s, count=294, min=395.6ms, max=846.0ms
+  save_trajectories: mean=8.00s, total=8.00s, count=1, min=7995.1ms, max=7995.1ms
+  physics_step: mean=22.3ms, total=6.55s, count=294, min=16.5ms, max=58.1ms
+  save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3803.2ms, max=3803.2ms
+  task_sampling: mean=377.0ms, total=377.0ms, count=1, min=377.0ms, max=377.0ms
+  task_specific_sample: mean=373.7ms, total=373.7ms, count=1, min=373.7ms, max=373.7ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=391.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=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 06:16:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:16:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:16:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:16:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:16:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:16:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:16:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:16:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:16:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:16:04 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 06:16:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:16:04 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 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049417m	[env.py: 870]
+05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:16:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98895843  0.74275214  0.04941695] yaw=-161.1deg	[env.py: 1019]
+05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85275567  0.85779716  0.04941695] yaw=-163.0deg	[env.py: 1019]
+05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03614285  1.07177528  0.04941695] yaw=-127.5deg	[env.py: 1019]
+05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:16:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.3ms, total=85.3ms	[env.py: 1075]
+05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.989, 0.743, 0.049)	[env.py: 1079]
+05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.1 deg	[env.py: 1082]
+05/10 06:16:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.760m	[env.py: 1086]
+05/10 06:16:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:16:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:16:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:16:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:16:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:16:05 INFO: [Worker 0] Worker 0 house 1 episode 72/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:16:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:16:05 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 06:16:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:16:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:16:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:16:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:16:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 06:16:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 06:16:05 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 06:16:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:16:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:16:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.511s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:16:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.332[m] 90.794[deg]	[grasp_sample.py: 539]
+05/10 06:16:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:16:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:16:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:16:06 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.722s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:16:06 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.048[deg]	[grasp_sample.py: 539]
+05/10 06:16:08 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 06:16:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:16:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:16:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:16:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:16:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:16:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:16:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:16:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:16:10 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 06:16:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:16:10 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 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036232m	[env.py: 870]
+05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:16:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 98.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78219676  0.04194326  0.03623225] yaw=151.3deg	[env.py: 1019]
+05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01455305  0.99386363  0.03623225] yaw=-145.2deg	[env.py: 1019]
+05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.23424172  1.01640539  0.03623225] yaw=-128.0deg	[env.py: 1019]
+05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:16:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=396.7ms, total=396.7ms	[env.py: 1075]
+05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.782, 0.042, 0.036)	[env.py: 1079]
+05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.3 deg	[env.py: 1082]
+05/10 06:16:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m	[env.py: 1086]
+05/10 06:16:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:16:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:16:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:16:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:16:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:16:10 INFO: [Worker 0] Worker 0 house 1 episode 70/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:16:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:16:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 06:16:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:16:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:16:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:16:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.494s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:16:12 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.581[m] 86.562[deg]	[grasp_sample.py: 539]
+05/10 06:16:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:16:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:16:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:16:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:16:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:16:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:16:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:16:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:16:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:17:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:17:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:17:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:17:57 INFO: [Worker 0] Worker 0 house 1 episode 71 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:17:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:18:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:18:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:18:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:18:04 INFO: [Worker 0] Worker 0 house 1 episode 74 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:18:23 INFO: [Worker 0] Saved videos eagerly for episode 52 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:18:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 06:18:23 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/10 06:18:33 INFO: [Worker 0] Saved videos eagerly for episode 49 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:18:33 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 06:18:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:18:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:18:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:18:36 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.32s (batch: 4.58s, save: 8.74s)	[pipeline.py: 300]
+05/10 06:18:36 INFO: [Worker 0] Worker 0 house 1 episode 72 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:18:36 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=0.71s:
+  episode_total: mean=170.43s, total=340.86s, count=2, min=151823.4ms, max=189041.1ms
+  sensor_polling: mean=477.5ms, total=269.32s, count=564, min=402.8ms, max=1033.8ms
+  physics_step: mean=22.8ms, total=12.86s, count=564, min=13.7ms, max=98.1ms
+  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8739.8ms, max=8739.8ms
+  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4580.0ms, max=4580.0ms
+  task_sampling: mean=354.9ms, total=709.7ms, count=2, min=348.2ms, max=361.6ms
+  task_specific_sample: mean=351.5ms, total=703.0ms, count=2, min=345.1ms, max=357.9ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.5ms
+  mj_forward_sync: mean=416.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 06:18:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:18:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:18:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:18:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:18:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:18:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:18:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:18:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:18:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 06:18:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:18:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027665m	[env.py: 870]
+05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:18:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79924559  0.66898901  0.02766547] yaw=-160.6deg	[env.py: 1019]
+05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82816605  0.10898778  0.02766547] yaw=159.8deg	[env.py: 1019]
+05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.62364409  0.50694637  0.02766547] yaw=-176.3deg	[env.py: 1019]
+05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:18:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.1ms, total=134.1ms	[env.py: 1075]
+05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.799, 0.669, 0.028)	[env.py: 1079]
+05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.6 deg	[env.py: 1082]
+05/10 06:18:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
+05/10 06:18:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:18:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:18:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:18:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:18:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:18:38 INFO: [Worker 0] Worker 0 house 1 episode 72/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:18:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:18:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 06:18:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:18:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:18:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.506s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:18:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.485[m] 86.204[deg]	[grasp_sample.py: 539]
+05/10 06:18:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:18:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:18:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:18:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:18:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:18:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.93s (batch: 3.92s, save: 8.01s)	[pipeline.py: 300]
+05/10 06:18:45 INFO: [Worker 0] [PROFILE] Episode 74 house 1 success=True episode_total=0.40s:
+  episode_total: mean=199.90s, total=199.90s, count=1, min=199895.6ms, max=199895.6ms
+  sensor_polling: mean=476.7ms, total=143.01s, count=300, min=401.5ms, max=853.0ms
+  save_trajectories: mean=8.01s, total=8.01s, count=1, min=8009.4ms, max=8009.4ms
+  physics_step: mean=22.5ms, total=6.75s, count=300, min=13.4ms, max=62.6ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3924.2ms, max=3924.2ms
+  task_sampling: mean=395.4ms, total=395.4ms, count=1, min=395.4ms, max=395.4ms
+  task_specific_sample: mean=391.8ms, total=391.8ms, count=1, min=391.8ms, max=391.8ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=391.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 06:18:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:18:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:18:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:18:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:18:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:18:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:18:47 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 06:18:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:18:47 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 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011810m	[env.py: 870]
+05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:18:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94098186  0.62821321  0.01180972] yaw=-164.2deg	[env.py: 1019]
+05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84433489  0.87621925  0.01180972] yaw=-152.1deg	[env.py: 1019]
+05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.83968451  0.06387064  0.01180972] yaw=160.8deg	[env.py: 1019]
+05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:18:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.4ms, total=149.4ms	[env.py: 1075]
+05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.628, 0.012)	[env.py: 1079]
+05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.2 deg	[env.py: 1082]
+05/10 06:18:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.775m	[env.py: 1086]
+05/10 06:18:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:18:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:18:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:18:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:18:47 INFO: [Worker 0] Worker 0 house 1 episode 75/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:18:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:18:47 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 06:18:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:18:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:18:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.402s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:18:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.358[m] 93.807[deg]	[grasp_sample.py: 539]
+05/10 06:18:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:18:48 INFO: [Worker 0] Worker 0 house 1 episode 70 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:18:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:18:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:18:55 INFO: [Worker 0] Saved videos eagerly for episode 52 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:18:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 06:18:55 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/10 06:19:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:19:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:19:06 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.96s (batch: 3.74s, save: 7.22s)	[pipeline.py: 300]
+05/10 06:19:07 INFO: [Worker 0] [PROFILE] Episode 72 house 1 success=True episode_total=0.39s:
+  episode_total: mean=182.50s, total=182.50s, count=1, min=182495.8ms, max=182495.8ms
+  sensor_polling: mean=490.3ms, total=140.71s, count=287, min=398.7ms, max=944.8ms
+  save_trajectories: mean=7.22s, total=7.22s, count=1, min=7216.8ms, max=7216.8ms
+  physics_step: mean=22.5ms, total=6.46s, count=287, min=16.8ms, max=85.6ms
+  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3744.0ms, max=3744.0ms
+  task_sampling: mean=386.3ms, total=386.3ms, count=1, min=386.3ms, max=386.3ms
+  task_specific_sample: mean=382.9ms, total=382.9ms, count=1, min=382.9ms, max=382.9ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=378.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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 06:19:08 INFO: [Worker 0] Saved videos eagerly for episode 51 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:19:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 06:19:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:19:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:19:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:19:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:19:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:19:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:19:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:19:08 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 06:19:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:19:08 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 06:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021243m	[env.py: 870]
+05/10 06:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:19:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9641829   0.39821702 -0.02124289] yaw=173.1deg	[env.py: 1019]
+05/10 06:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73518152  0.89132614 -0.02124289] yaw=-161.1deg	[env.py: 1019]
+05/10 06:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96930982  0.32785374 -0.02124289] yaw=177.5deg	[env.py: 1019]
+05/10 06:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:19:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=212.9ms, total=212.9ms	[env.py: 1075]
+05/10 06:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.964, 0.398, -0.021)	[env.py: 1079]
+05/10 06:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.1 deg	[env.py: 1082]
+05/10 06:19:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.743m	[env.py: 1086]
+05/10 06:19:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:19:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:19:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:19:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:19:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:19:09 INFO: [Worker 0] Worker 0 house 1 episode 73/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:19:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:19:09 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 06:19:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:19:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:19:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.459s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:19:09 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.258[m] 82.380[deg]	[grasp_sample.py: 539]
+05/10 06:19:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:19:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:19:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:19:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:19:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:19:23 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.47s (batch: 4.02s, save: 11.45s)	[pipeline.py: 300]
+05/10 06:19:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:19:24 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=1.19s:
+  episode_total: mean=134.98s, total=269.96s, count=2, min=75484.9ms, max=194471.4ms
+  sensor_polling: mean=482.5ms, total=204.59s, count=424, min=384.5ms, max=930.0ms
+  save_trajectories: mean=11.45s, total=11.45s, count=1, min=11450.5ms, max=11450.5ms
+  physics_step: mean=23.3ms, total=9.87s, count=424, min=15.2ms, max=70.3ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4017.3ms, max=4017.3ms
+  task_sampling: mean=594.2ms, total=1.19s, count=2, min=444.4ms, max=744.0ms
+  task_specific_sample: mean=590.3ms, total=1.18s, count=2, min=440.4ms, max=740.2ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.6ms, max=2.6ms
+  mj_forward_sync: mean=523.8us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=15.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 06:19:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:19:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:19:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:19:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:19:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:19:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:19:26 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 06:19:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:19:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035180m	[env.py: 870]
+05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:19:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92209834  1.15789289 -0.03518014] yaw=-146.9deg	[env.py: 1019]
+05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69591941  0.89909312 -0.03518014] yaw=-152.7deg	[env.py: 1019]
+05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95529062  0.15398381 -0.03518014] yaw=145.4deg	[env.py: 1019]
+05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:19:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.0ms, total=203.0ms	[env.py: 1075]
+05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.922, 1.158, -0.035)	[env.py: 1079]
+05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.9 deg	[env.py: 1082]
+05/10 06:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
+05/10 06:19:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:19:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:19:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:19:26 INFO: [Worker 0] Worker 0 house 1 episode 71/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:19:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.156s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:19:27 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 06:19:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:19:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:19:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:19:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.675s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:19:29 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.615[m] 87.099[deg]	[grasp_sample.py: 539]
+05/10 06:19:30 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 06:19:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:19:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:19:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:19:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:19:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:19:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:19:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:19:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:19:32 INFO: [Worker 0] [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 06:19:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:19:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031235m	[env.py: 870]
+05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:19:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76339892  0.77857546  0.0312347 ] yaw=-171.3deg	[env.py: 1019]
+05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:19:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=255.8ms, total=255.8ms	[env.py: 1075]
+05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.763, 0.779, 0.031)	[env.py: 1079]
+05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.3 deg	[env.py: 1082]
+05/10 06:19:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m	[env.py: 1086]
+05/10 06:19:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:19:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:19:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:19:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:19:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:19:32 INFO: [Worker 0] Worker 0 house 1 episode 72/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:19:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:19:33 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 06:19:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:19:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:19:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.581s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:19:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.568[m] 93.164[deg]	[grasp_sample.py: 539]
+05/10 06:19:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:19:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:19:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:19:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:19:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:19:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:19:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:19:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:19:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:19:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:20:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:20:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:20:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:21:11 INFO: [Worker 0] Worker 0 house 1 episode 72 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:21:18 INFO: [Worker 0] Worker 0 house 1 episode 75 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:21:30 INFO: [Worker 0] Worker 0 house 1 episode 73 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:21:35 INFO: [Worker 0] Saved videos eagerly for episode 53 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:21:35 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 06:21:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:21:41 INFO: [Worker 0] Saved videos eagerly for episode 50 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:21:41 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 06:21:41 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/10 06:21:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:21:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:21:47 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.85s (batch: 4.06s, save: 8.79s)	[pipeline.py: 300]
+05/10 06:21:48 INFO: [Worker 0] [PROFILE] Episode 72 house 1 success=True episode_total=0.47s:
+  episode_total: mean=190.11s, total=190.11s, count=1, min=190115.0ms, max=190115.0ms
+  sensor_polling: mean=473.4ms, total=142.01s, count=300, min=404.1ms, max=937.7ms
+  save_trajectories: mean=8.79s, total=8.79s, count=1, min=8789.3ms, max=8789.3ms
+  physics_step: mean=21.7ms, total=6.51s, count=300, min=13.8ms, max=83.4ms
+  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4058.9ms, max=4058.9ms
+  task_sampling: mean=465.0ms, total=465.0ms, count=1, min=465.0ms, max=465.0ms
+  task_specific_sample: mean=461.4ms, total=461.4ms, count=1, min=461.4ms, max=461.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=401.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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 06:21:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:21:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:21:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:21:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:21:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:21:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:21:50 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 06:21:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:21:50 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 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049006m	[env.py: 870]
+05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:21:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90602004  0.84821245  0.04900593] yaw=-159.2deg	[env.py: 1019]
+05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09019265  0.90826374  0.04900593] yaw=-140.8deg	[env.py: 1019]
+05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92110992  0.11807995  0.04900593] yaw=160.9deg	[env.py: 1019]
+05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:21:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.8ms, total=127.8ms	[env.py: 1075]
+05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.906, 0.848, 0.049)	[env.py: 1079]
+05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.2 deg	[env.py: 1082]
+05/10 06:21:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
+05/10 06:21:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:21:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:21:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:21:50 INFO: [Worker 0] Worker 0 house 1 episode 73/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:21:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:21:50 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 06:21:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:21:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:21:50 INFO: [Worker 0] Saved videos eagerly for episode 53 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:21:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 06:21:50 INFO: [Worker 0] Preparing episode data: 272 timesteps	[save_utils.py: 278]
+05/10 06:21:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.564s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:21:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.410[m] 79.211[deg]	[grasp_sample.py: 539]
+05/10 06:21:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:21:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:21:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:21:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:21:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:21:54 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.74s (batch: 4.47s, save: 8.27s)	[pipeline.py: 300]
+05/10 06:21:54 INFO: [Worker 0] [PROFILE] Episode 75 house 1 success=True episode_total=0.43s:
+  episode_total: mean=187.52s, total=187.52s, count=1, min=187524.4ms, max=187524.4ms
+  sensor_polling: mean=474.8ms, total=139.60s, count=294, min=396.7ms, max=881.3ms
+  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8265.4ms, max=8265.4ms
+  physics_step: mean=21.7ms, total=6.38s, count=294, min=14.8ms, max=45.2ms
+  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4473.6ms, max=4473.6ms
+  task_sampling: mean=431.3ms, total=431.3ms, count=1, min=431.3ms, max=431.3ms
+  task_specific_sample: mean=427.0ms, total=427.0ms, count=1, min=427.0ms, max=427.0ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=520.8us, 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 06:21:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:21:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:21:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:21:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:21:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:21:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:21:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:21:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:21:56 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 06:21:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:21:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040631m	[env.py: 870]
+05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:21:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99608121  0.16256777  0.04063089] yaw=147.8deg	[env.py: 1019]
+05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75374276  0.44925258  0.04063089] yaw=172.4deg	[env.py: 1019]
+05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.76730222  0.4238274   0.04063089] yaw=180.3deg	[env.py: 1019]
+05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:21:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=226.3ms, total=226.3ms	[env.py: 1075]
+05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.996, 0.163, 0.041)	[env.py: 1079]
+05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.8 deg	[env.py: 1082]
+05/10 06:21:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.775m	[env.py: 1086]
+05/10 06:21:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:21:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:21:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:21:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:21:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:21:56 INFO: [Worker 0] Worker 0 house 1 episode 76/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:21:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:21:56 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 06:21:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:21:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:21:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.447s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:21:57 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.369[m] 94.477[deg]	[grasp_sample.py: 539]
+05/10 06:21:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:21:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:21:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:22:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:22:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:22:01 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.01s (batch: 3.74s, save: 7.26s)	[pipeline.py: 300]
+05/10 06:22:02 INFO: [Worker 0] [PROFILE] Episode 73 house 1 success=True episode_total=0.51s:
+  episode_total: mean=173.59s, total=173.59s, count=1, min=173588.1ms, max=173588.1ms
+  sensor_polling: mean=480.0ms, total=130.08s, count=271, min=391.0ms, max=1067.2ms
+  save_trajectories: mean=7.26s, total=7.26s, count=1, min=7264.4ms, max=7264.4ms
+  physics_step: mean=24.0ms, total=6.52s, count=271, min=13.7ms, max=72.0ms
+  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3740.7ms, max=3740.7ms
+  task_sampling: mean=511.6ms, total=511.6ms, count=1, min=511.6ms, max=511.6ms
+  task_specific_sample: mean=508.1ms, total=508.1ms, count=1, min=508.1ms, max=508.1ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=370.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.7us, 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 06:22:03 INFO: [Worker 0] Worker 0 house 1 episode 72 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:22:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:22:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:22:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:22:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:22:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:22:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:22:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:22:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:22:04 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 06:22:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:22:04 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 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033366m	[env.py: 870]
+05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:22:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94227369  0.39005826  0.03336585] yaw=168.9deg	[env.py: 1019]
+05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99810259  0.32855598  0.03336585] yaw=172.0deg	[env.py: 1019]
+05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95289967  0.62901527  0.03336585] yaw=-177.7deg	[env.py: 1019]
+05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:22:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.4ms, total=100.5ms	[env.py: 1075]
+05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.390, 0.033)	[env.py: 1079]
+05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.9 deg	[env.py: 1082]
+05/10 06:22:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m	[env.py: 1086]
+05/10 06:22:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:22:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:22:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:22:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:22:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:22:04 INFO: [Worker 0] Worker 0 house 1 episode 74/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:22:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:22:04 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 06:22:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:22:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:22:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.441s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:22:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.307[m] 90.356[deg]	[grasp_sample.py: 539]
+05/10 06:22:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:22:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:22:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:22:25 INFO: [Worker 0] Saved videos eagerly for episode 52 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:22:25 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 06:22:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:22:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:22:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:22:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:22:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:22:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:22:38 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.04s (batch: 3.90s, save: 9.15s)	[pipeline.py: 300]
+05/10 06:22:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:22:39 INFO: [Worker 0] [PROFILE] Episode 72 house 1 success=True episode_total=0.99s:
+  episode_total: mean=95.68s, total=191.37s, count=2, min=4547.7ms, max=186821.9ms
+  sensor_polling: mean=465.9ms, total=139.78s, count=300, min=384.0ms, max=722.9ms
+  save_trajectories: mean=9.15s, total=9.15s, count=1, min=9146.5ms, max=9146.5ms
+  physics_step: mean=21.4ms, total=6.43s, count=300, min=16.9ms, max=52.5ms
+  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3897.9ms, max=3897.9ms
+  task_sampling: mean=493.4ms, total=986.8ms, count=2, min=474.3ms, max=512.5ms
+  task_specific_sample: mean=490.0ms, total=980.0ms, count=2, min=471.6ms, max=508.4ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=427.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.5us, 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 06:22:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:22:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:22:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:22:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:22:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:22:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:22:40 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 06:22:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:22:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021291m	[env.py: 870]
+05/10 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:22:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98839173  0.76034962  0.02129055] yaw=-158.2deg	[env.py: 1019]
+05/10 06:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.63149784  0.34545436  0.02129055] yaw=172.6deg	[env.py: 1019]
+05/10 06:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88073157  0.78119888  0.02129055] yaw=-158.0deg	[env.py: 1019]
+05/10 06:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:22:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.7ms, total=121.8ms	[env.py: 1075]
+05/10 06:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.988, 0.760, 0.021)	[env.py: 1079]
+05/10 06:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.2 deg	[env.py: 1082]
+05/10 06:22:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m	[env.py: 1086]
+05/10 06:22:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:22:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:22:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:22:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:22:41 INFO: [Worker 0] Worker 0 house 1 episode 73/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:22:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:22:41 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 06:22:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:22:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:22:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.525s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:22:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.302[m] 78.532[deg]	[grasp_sample.py: 539]
+05/10 06:22:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:22:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:22:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:22:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:22:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:22:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:22:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:22:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:23:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:23:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:23:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:23:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 06:23:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 06:23:42 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 06:23:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:23:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:23:42 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.395s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:23:42 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.699[deg]	[grasp_sample.py: 539]
+05/10 06:23:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:23:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:23:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:23:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:23:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 06:23:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 06:23:55 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 06:23:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:23:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:23:56 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.828s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:23:56 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.023[m] 1.142[deg]	[grasp_sample.py: 539]
+05/10 06:23:58 ERROR: [Worker 0] Worker 0 house 1 episode 76 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 06:24:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:24:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:24:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:24:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:24:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:24:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:24:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:24:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:24:00 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 06:24:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:24:00 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 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044987m	[env.py: 870]
+05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:24:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.15851056  1.01333997 -0.04498682] yaw=-124.8deg	[env.py: 1019]
+05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.03650063  0.79887367 -0.04498682] yaw=-150.0deg	[env.py: 1019]
+05/10 06:24:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.98384304  1.21804624 -0.04498682] yaw=-140.3deg	[env.py: 1019]
+05/10 06:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:24:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=431.7ms, total=431.7ms	[env.py: 1075]
+05/10 06:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.159, 1.013, -0.045)	[env.py: 1079]
+05/10 06:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.8 deg	[env.py: 1082]
+05/10 06:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.760m	[env.py: 1086]
+05/10 06:24:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:24:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:24:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:24:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:24:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:24:01 INFO: [Worker 0] Worker 0 house 1 episode 77/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:24:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:24:01 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 06:24:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:24:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:24:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.991s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:24:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.362[m] 92.245[deg]	[grasp_sample.py: 539]
+05/10 06:24:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:24:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:24:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:24:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:24:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:24:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:24:27 INFO: [Worker 0] Worker 0 house 1 episode 73 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:24:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:24:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:24:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:24:53 INFO: [Worker 0] Saved videos eagerly for episode 54 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:24:53 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 06:24:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:25:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:25:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:25:05 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.02s (batch: 4.07s, save: 7.95s)	[pipeline.py: 300]
+05/10 06:25:06 INFO: [Worker 0] [PROFILE] Episode 73 house 1 success=True episode_total=0.41s:
+  episode_total: mean=195.95s, total=195.95s, count=1, min=195952.5ms, max=195952.5ms
+  sensor_polling: mean=487.1ms, total=146.14s, count=300, min=404.6ms, max=853.4ms
+  save_trajectories: mean=7.95s, total=7.95s, count=1, min=7947.7ms, max=7947.7ms
+  physics_step: mean=22.9ms, total=6.88s, count=300, min=14.4ms, max=71.6ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4073.2ms, max=4073.2ms
+  task_sampling: mean=414.8ms, total=414.8ms, count=1, min=414.8ms, max=414.8ms
+  task_specific_sample: mean=411.0ms, total=411.0ms, count=1, min=411.0ms, max=411.0ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=401.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 06:25:07 INFO: [Worker 0] Worker 0 house 1 episode 74 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:25:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:25:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:25:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:25:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:25:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:25:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:25:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 06:25:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:25:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042998m	[env.py: 870]
+05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:25:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74224448  0.07868852  0.04299787] yaw=147.2deg	[env.py: 1019]
+05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.19357193  0.99990522  0.04299787] yaw=-141.9deg	[env.py: 1019]
+05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:25:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=155.4ms, total=155.4ms	[env.py: 1075]
+05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.742, 0.079, 0.043)	[env.py: 1079]
+05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.2 deg	[env.py: 1082]
+05/10 06:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m	[env.py: 1086]
+05/10 06:25:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:25:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:25:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:25:08 INFO: [Worker 0] Worker 0 house 1 episode 74/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:25:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:25:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 06:25:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:25:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:25:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.588s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:25:09 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.602[m] 89.476[deg]	[grasp_sample.py: 539]
+05/10 06:25:10 INFO: [Worker 0] Worker 0 house 1 episode 73 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:25:10 ERROR: [Worker 0] Worker 0 house 1 episode 74 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 06:25:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:25:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:25:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:25:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:25:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:25:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:25:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:25:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:25:12 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 06:25:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:25:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046221m	[env.py: 870]
+05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:25:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8605924   0.357584   -0.04622053] yaw=170.3deg	[env.py: 1019]
+05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:25:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=234.6ms, total=234.6ms	[env.py: 1075]
+05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.861, 0.358, -0.046)	[env.py: 1079]
+05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.3 deg	[env.py: 1082]
+05/10 06:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
+05/10 06:25:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:25:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:25:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:25:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:25:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:25:13 INFO: [Worker 0] Worker 0 house 1 episode 75/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:25:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:25:13 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 06:25:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:25:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:25:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.439s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:25:13 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.464[m] 97.228[deg]	[grasp_sample.py: 539]
+05/10 06:25:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:25:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:25:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:25:31 INFO: [Worker 0] Saved videos eagerly for episode 54 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:25:31 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 06:25:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:25:32 INFO: [Worker 0] Saved videos eagerly for episode 53 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:25:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 06:25:32 INFO: [Worker 0] Preparing episode data: 281 timesteps	[save_utils.py: 278]
+05/10 06:25:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:25:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:25:43 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.74s (batch: 4.05s, save: 7.69s)	[pipeline.py: 300]
+05/10 06:25:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:25:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:25:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.50s (batch: 4.17s, save: 8.33s)	[pipeline.py: 300]
+05/10 06:25:44 INFO: [Worker 0] [PROFILE] Episode 73 house 1 success=True episode_total=0.38s:
+  episode_total: mean=183.30s, total=183.30s, count=1, min=183302.4ms, max=183302.4ms
+  sensor_polling: mean=493.1ms, total=138.07s, count=280, min=407.7ms, max=841.4ms
+  save_trajectories: mean=7.69s, total=7.69s, count=1, min=7691.4ms, max=7691.4ms
+  physics_step: mean=23.1ms, total=6.47s, count=280, min=13.9ms, max=65.3ms
+  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4047.7ms, max=4047.7ms
+  task_sampling: mean=381.4ms, total=381.4ms, count=1, min=381.4ms, max=381.4ms
+  task_specific_sample: mean=377.4ms, total=377.4ms, count=1, min=377.4ms, max=377.4ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=482.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 06:25:44 INFO: [Worker 0] [PROFILE] Episode 74 house 1 success=True episode_total=0.38s:
+  episode_total: mean=220.63s, total=220.63s, count=1, min=220633.8ms, max=220633.8ms
+  sensor_polling: mean=484.5ms, total=145.36s, count=300, min=407.0ms, max=973.1ms
+  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8332.9ms, max=8332.9ms
+  physics_step: mean=24.4ms, total=7.32s, count=300, min=13.9ms, max=75.7ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4168.2ms, max=4168.2ms
+  task_sampling: mean=375.9ms, total=375.9ms, count=1, min=375.9ms, max=375.9ms
+  task_specific_sample: mean=372.2ms, total=372.2ms, count=1, min=372.2ms, max=372.2ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=408.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 06:25:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:25:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:25:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:25:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:25:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:25:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:25:45 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 06:25:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:25:45 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 06:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043744m	[env.py: 870]
+05/10 06:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:25:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 129.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83448637  0.39014251  0.04374406] yaw=177.7deg	[env.py: 1019]
+05/10 06:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.92439647  0.94850185  0.04374406] yaw=-141.6deg	[env.py: 1019]
+05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:25:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=259.2ms, total=259.2ms	[env.py: 1075]
+05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.834, 0.390, 0.044)	[env.py: 1079]
+05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.7 deg	[env.py: 1082]
+05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m	[env.py: 1086]
+05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:25:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:25:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:25:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:25:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:25:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 06:25:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:25:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.046432m	[env.py: 870]
+05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:25:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70081092  0.35870164 -0.0464321 ] yaw=177.6deg	[env.py: 1019]
+05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68611637  0.43471389 -0.0464321 ] yaw=172.7deg	[env.py: 1019]
+05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95711382  1.08467407 -0.0464321 ] yaw=-132.7deg	[env.py: 1019]
+05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:25:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=65.8ms, total=65.9ms	[env.py: 1075]
+05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.701, 0.359, -0.046)	[env.py: 1079]
+05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.6 deg	[env.py: 1082]
+05/10 06:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m	[env.py: 1086]
+05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:25:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:25:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:25:46 INFO: [Worker 0] Worker 0 house 1 episode 74/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:25:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:25:46 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 06:25:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:25:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:25:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:25:46 INFO: [Worker 0] Worker 0 house 1 episode 75/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:25:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:25:46 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 06:25:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:25:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:25:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.426s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:25:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.415[m] 83.907[deg]	[grasp_sample.py: 539]
+05/10 06:25:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:25:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.540s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:25:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.599[m] 99.936[deg]	[grasp_sample.py: 539]
+05/10 06:25:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:25:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:25:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:25:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:25:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:26:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:26:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:26:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:26:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:26:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:26:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:26:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:26:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:26:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:26:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:26:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:26:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 06:26:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 06:26:24 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 06:26:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:26:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:26:26 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.572s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:26:26 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.312[deg]	[grasp_sample.py: 539]
+05/10 06:26:27 ERROR: [Worker 0] Worker 0 house 1 episode 77 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 06:26:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:26:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:26:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:26:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:26:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:26:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:26:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:26:29 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 06:26:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:26:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035883m	[env.py: 870]
+05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:26:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.12551897  0.94246056  0.03588272] yaw=-152.0deg	[env.py: 1019]
+05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6487116   0.33022838  0.03588272] yaw=170.0deg	[env.py: 1019]
+05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64270207  0.47145889  0.03588272] yaw=184.2deg	[env.py: 1019]
+05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:26:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.3ms, total=143.3ms	[env.py: 1075]
+05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.126, 0.942, 0.036)	[env.py: 1079]
+05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.0 deg	[env.py: 1082]
+05/10 06:26:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.738m	[env.py: 1086]
+05/10 06:26:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:26:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:26:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:26:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:26:29 INFO: [Worker 0] Worker 0 house 1 episode 78/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:26:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:26:30 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 06:26:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:26:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:26:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.989s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:26:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.306[m] 86.891[deg]	[grasp_sample.py: 539]
+05/10 06:26:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:26:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:26:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:26:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:26:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:26:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:27:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:27:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:27:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:27:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:27:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:27:52 INFO: [Worker 0] Worker 0 house 1 episode 75 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:28:15 INFO: [Worker 0] Saved videos eagerly for episode 55 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:28:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 06:28:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:28:21 INFO: [Worker 0] Worker 0 house 1 episode 75 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:28:26 INFO: [Worker 0] Worker 0 house 1 episode 74 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:28:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:28:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:28:27 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.97s (batch: 4.17s, save: 7.80s)	[pipeline.py: 300]
+05/10 06:28:28 INFO: [Worker 0] [PROFILE] Episode 75 house 1 success=True episode_total=0.88s:
+  episode_total: mean=99.54s, total=199.07s, count=2, min=3215.7ms, max=195855.8ms
+  sensor_polling: mean=484.9ms, total=145.48s, count=300, min=400.8ms, max=806.9ms
+  save_trajectories: mean=7.80s, total=7.80s, count=1, min=7796.3ms, max=7796.3ms
+  physics_step: mean=22.4ms, total=6.73s, count=300, min=14.5ms, max=65.5ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4169.2ms, max=4169.2ms
+  task_sampling: mean=441.6ms, total=883.3ms, count=2, min=416.3ms, max=466.9ms
+  task_specific_sample: mean=437.1ms, total=874.2ms, count=2, min=410.4ms, max=463.8ms
+  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.3ms, max=2.6ms
+  mj_forward_sync: mean=496.5us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 06:28:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:28:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:28:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:28:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:28:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:28:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:28:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 06:28:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:28:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003066m	[env.py: 870]
+05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:28:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89777398  0.71717746  0.00306634] yaw=-153.8deg	[env.py: 1019]
+05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83950595  0.49049324  0.00306634] yaw=-188.6deg	[env.py: 1019]
+05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.11418052  0.889132    0.00306634] yaw=-146.8deg	[env.py: 1019]
+05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:28:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.6ms, total=130.6ms	[env.py: 1075]
+05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.898, 0.717, 0.003)	[env.py: 1079]
+05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.8 deg	[env.py: 1082]
+05/10 06:28:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m	[env.py: 1086]
+05/10 06:28:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:28:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:28:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:28:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:28:30 INFO: [Worker 0] Worker 0 house 1 episode 76/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:28:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:28:30 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 06:28:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:28:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:28:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.452s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:28:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.400[m] 86.827[deg]	[grasp_sample.py: 539]
+05/10 06:28:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:28:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:28:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:28:42 INFO: [Worker 0] Saved videos eagerly for episode 55 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:28:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 06:28:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:28:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:28:49 INFO: [Worker 0] Saved videos eagerly for episode 54 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:28:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 06:28:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:28:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:28:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:28:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:28:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:28:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:28:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:28:56 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.90s (batch: 4.13s, save: 9.77s)	[pipeline.py: 300]
+05/10 06:28:56 INFO: [Worker 0] [PROFILE] Episode 75 house 1 success=True episode_total=0.38s:
+  episode_total: mean=190.75s, total=190.75s, count=1, min=190745.8ms, max=190745.8ms
+  sensor_polling: mean=478.0ms, total=143.39s, count=300, min=398.6ms, max=733.2ms
+  save_trajectories: mean=9.77s, total=9.77s, count=1, min=9769.5ms, max=9769.5ms
+  physics_step: mean=23.0ms, total=6.91s, count=300, min=13.8ms, max=61.0ms
+  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4130.4ms, max=4130.4ms
+  task_sampling: mean=379.4ms, total=379.4ms, count=1, min=379.4ms, max=379.4ms
+  task_specific_sample: mean=376.1ms, total=376.1ms, count=1, min=376.1ms, max=376.1ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=357.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 06:28:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:28:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:28:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:28:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:28:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:28:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:28:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:28:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:28:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:28:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 06:28:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:28:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002137m	[env.py: 870]
+05/10 06:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:28:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07636212  0.84736859  0.00213669] yaw=-143.9deg	[env.py: 1019]
+05/10 06:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:28:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67917451  0.27343467  0.00213669] yaw=168.1deg	[env.py: 1019]
+05/10 06:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73068489  0.38352745  0.00213669] yaw=179.1deg	[env.py: 1019]
+05/10 06:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:28:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=612.0ms, total=612.0ms	[env.py: 1075]
+05/10 06:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.076, 0.847, 0.002)	[env.py: 1079]
+05/10 06:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.9 deg	[env.py: 1082]
+05/10 06:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.725m	[env.py: 1086]
+05/10 06:28:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:28:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:28:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:28:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:28:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:28:59 INFO: [Worker 0] Worker 0 house 1 episode 76/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:28:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:28:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 06:28:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:28:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:29:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:29:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.970s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:29:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.310[m] 85.245[deg]	[grasp_sample.py: 539]
+05/10 06:29:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:29:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:29:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:29:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:29:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 06:29:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 06:29:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 06:29:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:29:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:29:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:29:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:29:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.70s (batch: 4.11s, save: 9.59s)	[pipeline.py: 300]
+05/10 06:29:04 INFO: [Worker 0] [PROFILE] Episode 74 house 1 success=True episode_total=0.54s:
+  episode_total: mean=198.39s, total=198.39s, count=1, min=198388.5ms, max=198388.5ms
+  sensor_polling: mean=485.5ms, total=145.64s, count=300, min=399.8ms, max=779.4ms
+  save_trajectories: mean=9.59s, total=9.59s, count=1, min=9586.4ms, max=9586.4ms
+  physics_step: mean=24.9ms, total=7.48s, count=300, min=14.3ms, max=75.9ms
+  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4109.3ms, max=4109.3ms
+  task_sampling: mean=537.3ms, total=537.3ms, count=1, min=537.3ms, max=537.3ms
+  task_specific_sample: mean=533.6ms, total=533.6ms, count=1, min=533.6ms, max=533.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=430.1us, 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 06:29:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:29:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:29:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:29:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:29:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:29:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:29:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 06:29:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:29:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043239m	[env.py: 870]
+05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:29:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74469996  0.46565274  0.0432389 ] yaw=176.5deg	[env.py: 1019]
+05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10493476  0.87269635  0.0432389 ] yaw=-151.6deg	[env.py: 1019]
+05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:29:06 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.601s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:29:06 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.373[deg]	[grasp_sample.py: 539]
+05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:29:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=510.0ms, total=510.0ms	[env.py: 1075]
+05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.745, 0.466, 0.043)	[env.py: 1079]
+05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.5 deg	[env.py: 1082]
+05/10 06:29:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m	[env.py: 1086]
+05/10 06:29:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:29:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:29:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:29:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:29:06 INFO: [Worker 0] Worker 0 house 1 episode 75/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:29:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:29:06 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 06:29:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:29:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:29:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.159s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:29:08 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.491[m] 82.739[deg]	[grasp_sample.py: 539]
+05/10 06:29:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:29:08 ERROR: [Worker 0] Worker 0 house 1 episode 78 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 06:29:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:29:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:29:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:29:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:29:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:29:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:29:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:29:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:29:10 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 06:29:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:29:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037905m	[env.py: 870]
+05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:29:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9089321   1.050863    0.03790465] yaw=-134.0deg	[env.py: 1019]
+05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9951494   1.30710283  0.03790465] yaw=-123.2deg	[env.py: 1019]
+05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99803427  0.9910865   0.03790465] yaw=-139.3deg	[env.py: 1019]
+05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:29:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=342.1ms, total=342.2ms	[env.py: 1075]
+05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.909, 1.051, 0.038)	[env.py: 1079]
+05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.0 deg	[env.py: 1082]
+05/10 06:29:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
+05/10 06:29:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:29:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:29:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:29:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:29:11 INFO: [Worker 0] Worker 0 house 1 episode 79/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:29:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:29:11 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 06:29:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:29:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.142s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:29:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.851s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:29:15 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.613[m] 103.802[deg]	[grasp_sample.py: 539]
+05/10 06:29:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:29:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:29:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:29:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:29:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:29:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:29:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:29:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:30:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:30:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:30:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:30:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:30:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:30:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:31:09 INFO: [Worker 0] Worker 0 house 1 episode 76 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:31:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:31:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:31:28 INFO: [Worker 0] Saved videos eagerly for episode 56 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:31:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 06:31:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:31:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:31:28 INFO: [Worker 0] Worker 0 house 1 episode 76 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:31:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:31:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:31:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:31:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:31:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:31:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 06:31:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 06:31:36 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 06:31:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:31:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:31:36 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.356s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:31:36 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.405[deg]	[grasp_sample.py: 539]
+05/10 06:31:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:31:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:31:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:31:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:31:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:31:40 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.88s (batch: 4.03s, save: 7.85s)	[pipeline.py: 300]
+05/10 06:31:41 INFO: [Worker 0] [PROFILE] Episode 76 house 1 success=True episode_total=0.39s:
+  episode_total: mean=191.22s, total=191.22s, count=1, min=191215.9ms, max=191215.9ms
+  sensor_polling: mean=492.1ms, total=147.64s, count=300, min=395.2ms, max=943.6ms
+  save_trajectories: mean=7.85s, total=7.85s, count=1, min=7854.0ms, max=7854.0ms
+  physics_step: mean=22.8ms, total=6.85s, count=300, min=16.4ms, max=56.8ms
+  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4030.8ms, max=4030.8ms
+  task_sampling: mean=385.6ms, total=385.6ms, count=1, min=385.6ms, max=385.6ms
+  task_specific_sample: mean=382.0ms, total=382.0ms, count=1, min=382.0ms, max=382.0ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=445.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 06:31:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:31:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:31:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:31:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:31:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:31:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:31:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:31:42 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 06:31:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:31:42 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 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023046m	[env.py: 870]
+05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:31:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84240297  1.13009376 -0.02304599] yaw=-134.6deg	[env.py: 1019]
+05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04379838  0.2303742  -0.02304599] yaw=152.8deg	[env.py: 1019]
+05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88914302  1.12833244 -0.02304599] yaw=-147.0deg	[env.py: 1019]
+05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:31:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.1ms, total=118.1ms	[env.py: 1075]
+05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.842, 1.130, -0.023)	[env.py: 1079]
+05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.6 deg	[env.py: 1082]
+05/10 06:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
+05/10 06:31:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:31:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:31:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:31:43 INFO: [Worker 0] Worker 0 house 1 episode 77/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:31:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:31:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 06:31:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:31:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:31:43 INFO: [Worker 0] Worker 0 house 1 episode 79 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:31:46 INFO: [Worker 0] Saved videos eagerly for episode 56 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:31:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 06:31:47 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
+05/10 06:31:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.517s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:31:47 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.660[m] 92.290[deg]	[grasp_sample.py: 539]
+05/10 06:31:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:31:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:31:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:31:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:31:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:31:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:31:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:31:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.08s (batch: 4.36s, save: 7.73s)	[pipeline.py: 300]
+05/10 06:31:59 INFO: [Worker 0] [PROFILE] Episode 76 house 1 success=True episode_total=0.88s:
+  episode_total: mean=181.09s, total=181.09s, count=1, min=181089.7ms, max=181089.7ms
+  sensor_polling: mean=488.0ms, total=138.09s, count=283, min=409.5ms, max=1005.5ms
+  save_trajectories: mean=7.73s, total=7.73s, count=1, min=7726.9ms, max=7726.9ms
+  physics_step: mean=22.4ms, total=6.35s, count=283, min=16.9ms, max=61.9ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4355.3ms, max=4355.3ms
+  task_sampling: mean=880.5ms, total=880.5ms, count=1, min=880.5ms, max=880.5ms
+  task_specific_sample: mean=873.0ms, total=873.0ms, count=1, min=873.0ms, max=873.0ms
+  mj_forward_sync: mean=4.5ms, total=4.5ms, count=1, min=4.5ms, max=4.5ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  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 06:32:00 INFO: [Worker 0] Worker 0 house 1 episode 75 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:32:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:32:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:32:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:32:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:32:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:32:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:32:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 06:32:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:32:01 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 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048452m	[env.py: 870]
+05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:32:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71009405  0.14845041  0.04845212] yaw=154.4deg	[env.py: 1019]
+05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8240091   0.40258364  0.04845212] yaw=176.6deg	[env.py: 1019]
+05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02397061  0.81323728  0.04845212] yaw=-153.3deg	[env.py: 1019]
+05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:32:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.3ms, total=178.4ms	[env.py: 1075]
+05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.710, 0.148, 0.048)	[env.py: 1079]
+05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.4 deg	[env.py: 1082]
+05/10 06:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
+05/10 06:32:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:32:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:32:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:32:01 INFO: [Worker 0] Worker 0 house 1 episode 77/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:32:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:32:01 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 06:32:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:32:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:32:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.759s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:32:05 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.662[m] 100.255[deg]	[grasp_sample.py: 539]
+05/10 06:32:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:32:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:32:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:32:06 INFO: [Worker 0] Saved videos eagerly for episode 51 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:32:06 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 06:32:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:32:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:32:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:32:20 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.59s (batch: 4.33s, save: 9.26s)	[pipeline.py: 300]
+05/10 06:32:21 INFO: [Worker 0] [PROFILE] Episode 79 house 1 success=True episode_total=2.40s:
+  episode_total: mean=154.80s, total=619.18s, count=4, min=122486.4ms, max=190568.2ms
+  sensor_polling: mean=468.0ms, total=482.04s, count=1030, min=369.1ms, max=920.2ms
+  physics_step: mean=22.1ms, total=22.80s, count=1030, min=14.3ms, max=80.0ms
+  save_trajectories: mean=9.26s, total=9.26s, count=1, min=9258.7ms, max=9258.7ms
+  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4329.5ms, max=4329.5ms
+  task_sampling: mean=599.6ms, total=2.40s, count=4, min=427.8ms, max=730.2ms
+  task_specific_sample: mean=595.5ms, total=2.38s, count=4, min=422.0ms, max=726.5ms
+  scene_randomize: mean=2.0ms, total=7.8ms, count=4, min=1.5ms, max=2.5ms
+  mj_forward_sync: mean=470.8us, total=1.9ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.6us, 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 06:32:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:32:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:32:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:32:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:32:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:32:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:32:22 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 06:32:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:32:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002250m	[env.py: 870]
+05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:32:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75796893  0.79061136  0.00224986] yaw=-172.5deg	[env.py: 1019]
+05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78845842  0.19699914  0.00224986] yaw=165.7deg	[env.py: 1019]
+05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88295673  0.05227532  0.00224986] yaw=157.9deg	[env.py: 1019]
+05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:32:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.3ms, total=137.3ms	[env.py: 1075]
+05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.758, 0.791, 0.002)	[env.py: 1079]
+05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.5 deg	[env.py: 1082]
+05/10 06:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m	[env.py: 1086]
+05/10 06:32:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:32:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:32:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:32:23 INFO: [Worker 0] Worker 0 house 1 episode 80/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:32:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:32:23 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 06:32:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:32:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:32:23 INFO: [Worker 0] Saved videos eagerly for episode 55 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:32:23 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 06:32:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:32:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.549s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:32:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.570[m] 90.661[deg]	[grasp_sample.py: 539]
+05/10 06:32:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:32:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:32:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:32:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:32:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:32:37 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.45s (batch: 4.03s, save: 9.42s)	[pipeline.py: 300]
+05/10 06:32:37 INFO: [Worker 0] [PROFILE] Episode 75 house 1 success=True episode_total=0.80s:
+  episode_total: mean=211.72s, total=211.72s, count=1, min=211720.8ms, max=211720.8ms
+  sensor_polling: mean=483.2ms, total=144.96s, count=300, min=398.1ms, max=834.5ms
+  save_trajectories: mean=9.42s, total=9.42s, count=1, min=9421.1ms, max=9421.1ms
+  physics_step: mean=24.2ms, total=7.27s, count=300, min=14.2ms, max=87.1ms
+  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4028.1ms, max=4028.1ms
+  task_sampling: mean=803.8ms, total=803.8ms, count=1, min=803.8ms, max=803.8ms
+  task_specific_sample: mean=784.7ms, total=784.7ms, count=1, min=784.7ms, max=784.7ms
+  scene_randomize: mean=16.4ms, total=16.4ms, count=1, min=16.4ms, max=16.4ms
+  mj_forward_sync: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms
+  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 06:32:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:32:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:32:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:32:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:32:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:32:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:32:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 06:32:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:32:39 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 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040283m	[env.py: 870]
+05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:32:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73088165  0.66273374  0.04028262] yaw=-164.2deg	[env.py: 1019]
+05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11497242  1.14980639  0.04028262] yaw=-139.0deg	[env.py: 1019]
+05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90291587  0.96798092  0.04028262] yaw=-153.3deg	[env.py: 1019]
+05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:32:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.4ms, total=156.4ms	[env.py: 1075]
+05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.731, 0.663, 0.040)	[env.py: 1079]
+05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.2 deg	[env.py: 1082]
+05/10 06:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/10 06:32:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:32:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:32:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:32:39 INFO: [Worker 0] Worker 0 house 1 episode 76/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:32:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:32:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 06:32:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:32:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:32:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.552s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:32:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.524[m] 81.333[deg]	[grasp_sample.py: 539]
+05/10 06:32:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:32:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:32:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:32:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:33:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:33:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:33:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:33:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:33:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:33:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:33:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:33:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:33:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:33:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:33:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:34:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:34:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:34:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:34:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:34:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:34:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:34:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:34:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:34:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:34:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:34:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:34:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:34:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:34:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:34:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 06:34:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 06:34:25 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 06:34:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:34:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:34:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:34:26 INFO: [Worker 0] Feasibility-checked 84 grasps in 1.461s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:34:26 INFO: [Worker 0] Feasible grasp found 160 (originally 45): w/ 0.153[m] 2.194[deg]	[grasp_sample.py: 539]
+05/10 06:34:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:34:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:34:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:34:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:34:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 06:34:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 06:34:27 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 06:34:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:34:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 72 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:34:28 INFO: [Worker 0] Feasibility-checked 72 grasps in 0.415s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:34:28 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.022[m] 2.100[deg]	[grasp_sample.py: 539]
+05/10 06:34:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:34:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:34:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:34:31 INFO: [Worker 0] Worker 0 house 1 episode 77 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:34:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:34:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:34:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:34:52 INFO: [Worker 0] Worker 0 house 1 episode 77 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 06:34:52 INFO: [Worker 0] [PROFILE] Episode 77 house 1 success=False episode_total=0.46s:
+  episode_total: mean=171.15s, total=171.15s, count=1, min=171146.3ms, max=171146.3ms
+  sensor_polling: mean=487.0ms, total=146.11s, count=300, min=407.3ms, max=921.3ms
+  physics_step: mean=21.6ms, total=6.48s, count=300, min=12.8ms, max=69.5ms
+  task_sampling: mean=463.3ms, total=463.3ms, count=1, min=463.3ms, max=463.3ms
+  task_specific_sample: mean=459.4ms, total=459.4ms, count=1, min=459.4ms, max=459.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=402.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 06:34:52 INFO: [Worker 0] Saved videos eagerly for episode 57 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:34:52 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 06:34:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:34:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:34:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:34:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:34:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:34:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:34:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:34:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 06:34:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:34:54 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 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012918m	[env.py: 870]
+05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:34:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06526064  0.14295832 -0.01291837] yaw=160.9deg	[env.py: 1019]
+05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07370971  0.92352236 -0.01291837] yaw=-154.8deg	[env.py: 1019]
+05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99838097  0.61259216 -0.01291837] yaw=-171.5deg	[env.py: 1019]
+05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:34:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=211.6ms, total=211.7ms	[env.py: 1075]
+05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.065, 0.143, -0.013)	[env.py: 1079]
+05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.9 deg	[env.py: 1082]
+05/10 06:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.722m	[env.py: 1086]
+05/10 06:34:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:34:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:34:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:34:54 INFO: [Worker 0] Worker 0 house 1 episode 78/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:34:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:34:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 06:34:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:34:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:34:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.983s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:34:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.300[m] 91.925[deg]	[grasp_sample.py: 539]
+05/10 06:34:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:34:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:34:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:34:59 INFO: [Worker 0] Worker 0 house 1 episode 80 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:35:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:35:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:35:06 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.95s (batch: 4.90s, save: 9.05s)	[pipeline.py: 300]
+05/10 06:35:07 INFO: [Worker 0] [PROFILE] Episode 77 house 1 success=True episode_total=0.37s:
+  episode_total: mean=204.82s, total=204.82s, count=1, min=204818.5ms, max=204818.5ms
+  sensor_polling: mean=477.7ms, total=143.31s, count=300, min=382.2ms, max=1008.9ms
+  save_trajectories: mean=9.05s, total=9.05s, count=1, min=9049.3ms, max=9049.3ms
+  physics_step: mean=22.9ms, total=6.86s, count=300, min=16.7ms, max=56.4ms
+  save_batch_prep: mean=4.90s, total=4.90s, count=1, min=4903.5ms, max=4903.5ms
+  task_sampling: mean=373.5ms, total=373.5ms, count=1, min=373.5ms, max=373.5ms
+  task_specific_sample: mean=370.2ms, total=370.2ms, count=1, min=370.2ms, max=370.2ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=387.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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 06:35:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:35:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:35:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:35:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:35:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:35:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:35:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:35:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:35:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 06:35:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:35:09 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 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002860m	[env.py: 870]
+05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:35:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73551456  0.16235178 -0.00285958] yaw=153.8deg	[env.py: 1019]
+05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 127.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 132.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74587662  0.15328335 -0.00285958] yaw=164.7deg	[env.py: 1019]
+05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:35:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=152.1ms, total=152.2ms	[env.py: 1075]
+05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.736, 0.162, -0.003)	[env.py: 1079]
+05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.8 deg	[env.py: 1082]
+05/10 06:35:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m	[env.py: 1086]
+05/10 06:35:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:35:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:35:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:35:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:35:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:35:09 INFO: [Worker 0] Worker 0 house 1 episode 78/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:35:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:35:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 06:35:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:35:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:35:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.437s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:35:11 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.554[m] 86.082[deg]	[grasp_sample.py: 539]
+05/10 06:35:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:35:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:35:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:35:15 INFO: [Worker 0] Worker 0 house 1 episode 76 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:35:20 INFO: [Worker 0] Saved videos eagerly for episode 52 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:35:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 06:35:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:35:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:35:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:35:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:35:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:35:35 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.92s (batch: 4.47s, save: 10.45s)	[pipeline.py: 300]
+05/10 06:35:36 INFO: [Worker 0] [PROFILE] Episode 80 house 1 success=True episode_total=0.44s:
+  episode_total: mean=193.51s, total=193.51s, count=1, min=193515.0ms, max=193515.0ms
+  sensor_polling: mean=482.4ms, total=144.71s, count=300, min=406.5ms, max=954.6ms
+  save_trajectories: mean=10.45s, total=10.45s, count=1, min=10451.1ms, max=10451.1ms
+  physics_step: mean=22.2ms, total=6.67s, count=300, min=13.8ms, max=67.9ms
+  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4467.8ms, max=4467.8ms
+  task_sampling: mean=440.5ms, total=440.5ms, count=1, min=440.5ms, max=440.5ms
+  task_specific_sample: mean=436.9ms, total=436.9ms, count=1, min=436.9ms, max=436.9ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=386.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 06:35:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:35:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:35:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:35:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:35:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:35:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:35:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:35:37 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 06:35:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:35:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040559m	[env.py: 870]
+05/10 06:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:35:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70181889  0.65530675  0.04055855] yaw=-164.7deg	[env.py: 1019]
+05/10 06:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:35:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09907667  0.89329657  0.04055855] yaw=-153.6deg	[env.py: 1019]
+05/10 06:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97804932  0.53746002  0.04055855] yaw=-176.8deg	[env.py: 1019]
+05/10 06:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:35:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.3ms, total=149.4ms	[env.py: 1075]
+05/10 06:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.702, 0.655, 0.041)	[env.py: 1079]
+05/10 06:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.7 deg	[env.py: 1082]
+05/10 06:35:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m	[env.py: 1086]
+05/10 06:35:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:35:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:35:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:35:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:35:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:35:38 INFO: [Worker 0] Worker 0 house 1 episode 81/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:35:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:35:38 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 06:35:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:35:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:35:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:35:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.499s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:35:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.606[m] 97.163[deg]	[grasp_sample.py: 539]
+05/10 06:35:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:35:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:35:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:35:39 INFO: [Worker 0] Saved videos eagerly for episode 56 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:35:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 06:35:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:35:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:35:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:35:51 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.28s (batch: 3.68s, save: 7.61s)	[pipeline.py: 300]
+05/10 06:35:51 INFO: [Worker 0] [PROFILE] Episode 76 house 1 success=True episode_total=0.44s:
+  episode_total: mean=192.40s, total=192.40s, count=1, min=192401.8ms, max=192401.8ms
+  sensor_polling: mean=482.2ms, total=144.66s, count=300, min=387.7ms, max=1194.9ms
+  save_trajectories: mean=7.61s, total=7.61s, count=1, min=7605.5ms, max=7605.5ms
+  physics_step: mean=22.2ms, total=6.66s, count=300, min=17.0ms, max=74.8ms
+  save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3678.3ms, max=3678.3ms
+  task_sampling: mean=444.0ms, total=444.0ms, count=1, min=444.0ms, max=444.0ms
+  task_specific_sample: mean=440.9ms, total=440.9ms, count=1, min=440.9ms, max=440.9ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=388.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 06:35:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:35:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:35:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:35:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:35:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:35:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:35:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 06:35:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:35:53 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 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003322m	[env.py: 870]
+05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:35:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 126.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89639603  1.19995139 -0.00332167] yaw=-144.4deg	[env.py: 1019]
+05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9657609   1.07118412 -0.00332167] yaw=-147.0deg	[env.py: 1019]
+05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92227351  0.27148054 -0.00332167] yaw=176.3deg	[env.py: 1019]
+05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:35:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.7ms, total=135.7ms	[env.py: 1075]
+05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.896, 1.200, -0.003)	[env.py: 1079]
+05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.4 deg	[env.py: 1082]
+05/10 06:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m	[env.py: 1086]
+05/10 06:35:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:35:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:35:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:35:53 INFO: [Worker 0] Worker 0 house 1 episode 77/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:35:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:35:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 06:35:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:35:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:35:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.379s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:35:58 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.663[m] 85.327[deg]	[grasp_sample.py: 539]
+05/10 06:36:00 ERROR: [Worker 0] Worker 0 house 1 episode 77 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 06:36:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:36:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:36:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:36:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:36:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:36:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:36:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:36:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:36:02 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 06:36:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:36:02 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 06:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020336m	[env.py: 870]
+05/10 06:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:36:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:36:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80646422  0.63702745  0.02033597] yaw=-168.4deg	[env.py: 1019]
+05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00369802  1.30008114  0.02033597] yaw=-127.3deg	[env.py: 1019]
+05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03593531  1.07456031  0.02033597] yaw=-142.8deg	[env.py: 1019]
+05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:36:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=513.5ms, total=513.5ms	[env.py: 1075]
+05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.806, 0.637, 0.020)	[env.py: 1079]
+05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.4 deg	[env.py: 1082]
+05/10 06:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m	[env.py: 1086]
+05/10 06:36:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:36:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:36:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:36:03 INFO: [Worker 0] Worker 0 house 1 episode 78/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:36:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:36:03 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 06:36:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:36:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:36:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.123s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:36:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.427[m] 77.088[deg]	[grasp_sample.py: 539]
+05/10 06:36:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:36:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:36:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:36:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:36:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:36:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:36:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:36:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:36:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:36:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:36:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:36:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:36:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:36:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:36:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:36:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:36:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:36:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:36:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:36:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:36:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:36:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:36:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 06:36:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 06:36:55 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 06:36:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:36:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 72 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:36:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:36:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:36:56 INFO: [Worker 0] Feasibility-checked 72 grasps in 0.837s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:36:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.040[m] 12.147[deg]	[grasp_sample.py: 539]
+05/10 06:36:58 ERROR: [Worker 0] Worker 0 house 1 episode 78 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 06:36:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:36:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:36:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:36:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:36:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:36:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:36:59 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 06:36:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:36:59 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 06:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025047m	[env.py: 870]
+05/10 06:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:36:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99672636  0.17519428 -0.02504744] yaw=165.8deg	[env.py: 1019]
+05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.13603245  0.97896335 -0.02504744] yaw=-128.7deg	[env.py: 1019]
+05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.65696299  0.75690808 -0.02504744] yaw=-166.8deg	[env.py: 1019]
+05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:37:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=347.9ms, total=348.0ms	[env.py: 1075]
+05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.997, 0.175, -0.025)	[env.py: 1079]
+05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.8 deg	[env.py: 1082]
+05/10 06:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.769m	[env.py: 1086]
+05/10 06:37:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:37:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:37:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:37:00 INFO: [Worker 0] Worker 0 house 1 episode 79/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:37:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:37:00 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 06:37:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:37:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:37:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:37:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.794s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:37:01 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.386[m] 92.261[deg]	[grasp_sample.py: 539]
+05/10 06:37:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:37:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:37:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:37:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:37:46 INFO: [Worker 0] Worker 0 house 1 episode 78 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:37:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:37:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:38:09 INFO: [Worker 0] Saved videos eagerly for episode 58 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:38:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 06:38:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:38:10 INFO: [Worker 0] Worker 0 house 1 episode 81 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:38:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:38:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:38:21 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.37s (batch: 4.26s, save: 8.11s)	[pipeline.py: 300]
+05/10 06:38:22 INFO: [Worker 0] [PROFILE] Episode 78 house 1 success=True episode_total=0.40s:
+  episode_total: mean=193.51s, total=193.51s, count=1, min=193512.7ms, max=193512.7ms
+  sensor_polling: mean=480.9ms, total=144.26s, count=300, min=410.5ms, max=788.3ms
+  save_trajectories: mean=8.11s, total=8.11s, count=1, min=8108.5ms, max=8108.5ms
+  physics_step: mean=24.4ms, total=7.33s, count=300, min=16.7ms, max=150.5ms
+  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4257.3ms, max=4257.3ms
+  task_sampling: mean=403.1ms, total=403.1ms, count=1, min=403.1ms, max=403.1ms
+  task_specific_sample: mean=399.7ms, total=399.7ms, count=1, min=399.7ms, max=399.7ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=379.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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 06:38:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:38:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:38:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:38:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:38:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:38:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:38:24 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 06:38:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:38:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012538m	[env.py: 870]
+05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:38:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8708919   0.27135706  0.01253838] yaw=165.9deg	[env.py: 1019]
+05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82579328  1.10591958  0.01253838] yaw=-144.2deg	[env.py: 1019]
+05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98139662  0.49476019  0.01253838] yaw=-188.9deg	[env.py: 1019]
+05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:38:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.6ms, total=153.6ms	[env.py: 1075]
+05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.871, 0.271, 0.013)	[env.py: 1079]
+05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.9 deg	[env.py: 1082]
+05/10 06:38:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
+05/10 06:38:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:38:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:38:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:38:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:38:25 INFO: [Worker 0] Worker 0 house 1 episode 79/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:38:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:38:25 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 06:38:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:38:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:38:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.611s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:38:25 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.419[m] 88.334[deg]	[grasp_sample.py: 539]
+05/10 06:38:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:38:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:38:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:38:30 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 06:38:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 06:38:30 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 06:38:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:38:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:38:30 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.404s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:38:30 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.144[deg]	[grasp_sample.py: 539]
+05/10 06:38:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:38:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:38:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:38:31 INFO: [Worker 0] Saved videos eagerly for episode 53 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:38:32 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 06:38:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:38:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:38:37 INFO: [Worker 0] Worker 0 house 1 episode 78 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:38:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:38:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:38:44 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.97s (batch: 4.72s, save: 8.25s)	[pipeline.py: 300]
+05/10 06:38:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:38:45 INFO: [Worker 0] [PROFILE] Episode 81 house 1 success=True episode_total=0.40s:
+  episode_total: mean=187.89s, total=187.89s, count=1, min=187886.2ms, max=187886.2ms
+  sensor_polling: mean=469.6ms, total=140.87s, count=300, min=398.5ms, max=759.8ms
+  save_trajectories: mean=8.25s, total=8.25s, count=1, min=8247.4ms, max=8247.4ms
+  physics_step: mean=21.5ms, total=6.45s, count=300, min=16.6ms, max=55.5ms
+  save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4723.9ms, max=4723.9ms
+  task_sampling: mean=401.6ms, total=401.6ms, count=1, min=401.6ms, max=401.6ms
+  task_specific_sample: mean=397.7ms, total=397.7ms, count=1, min=397.7ms, max=397.7ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=523.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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 06:38:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:38:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:38:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:38:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:38:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:38:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:38:47 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 06:38:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:38:47 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 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020390m	[env.py: 870]
+05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:38:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70117674  0.09053375  0.02038996] yaw=168.0deg	[env.py: 1019]
+05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72515915  0.42295243  0.02038996] yaw=181.3deg	[env.py: 1019]
+05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77023066  0.89518762  0.02038996] yaw=-164.2deg	[env.py: 1019]
+05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:38:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=356.2ms, total=356.2ms	[env.py: 1075]
+05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.701, 0.091, 0.020)	[env.py: 1079]
+05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.0 deg	[env.py: 1082]
+05/10 06:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m	[env.py: 1086]
+05/10 06:38:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:38:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:38:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:38:48 INFO: [Worker 0] Worker 0 house 1 episode 82/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:38:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:38:48 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 06:38:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:38:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:38:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:38:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.646s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:38:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.594[m] 82.214[deg]	[grasp_sample.py: 539]
+05/10 06:38:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:38:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:38:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:38:59 INFO: [Worker 0] Saved videos eagerly for episode 57 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:38:59 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 06:38:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:39:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:39:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:39:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:39:14 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.64s (batch: 4.19s, save: 10.45s)	[pipeline.py: 300]
+05/10 06:39:15 INFO: [Worker 0] [PROFILE] Episode 78 house 1 success=True episode_total=1.20s:
+  episode_total: mean=99.76s, total=199.52s, count=2, min=7205.4ms, max=192319.1ms
+  sensor_polling: mean=473.1ms, total=141.94s, count=300, min=409.7ms, max=727.2ms
+  save_trajectories: mean=10.45s, total=10.45s, count=1, min=10454.9ms, max=10454.9ms
+  physics_step: mean=22.1ms, total=6.62s, count=300, min=16.6ms, max=51.8ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4186.5ms, max=4186.5ms
+  task_sampling: mean=598.6ms, total=1.20s, count=2, min=393.1ms, max=804.2ms
+  task_specific_sample: mean=595.1ms, total=1.19s, count=2, min=389.2ms, max=801.0ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.5ms
+  mj_forward_sync: mean=508.1us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.7us, 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 06:39:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:39:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:39:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:39:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:39:16 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 06:39:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:39:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.020m, effective arm-mount z=0.840m (base_body_z=-0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020188m	[env.py: 870]
+05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:39:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89169802  0.10024754 -0.02018771] yaw=159.3deg	[env.py: 1019]
+05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81583907  0.83782943 -0.02018771] yaw=-167.3deg	[env.py: 1019]
+05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0016761   0.62300879 -0.02018771] yaw=-177.2deg	[env.py: 1019]
+05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:39:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.2ms, total=84.2ms	[env.py: 1075]
+05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.892, 0.100, -0.020)	[env.py: 1079]
+05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.3 deg	[env.py: 1082]
+05/10 06:39:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
+05/10 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:39:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:39:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:39:16 INFO: [Worker 0] Worker 0 house 1 episode 79/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:39:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:39:17 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 06:39:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:39:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:39:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.638s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:39:17 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.475[m] 87.410[deg]	[grasp_sample.py: 539]
+05/10 06:39:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:39:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:39:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:39:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:39:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:39:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:39:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:39:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:39:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:39:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:39:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:39:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:39:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:39:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 06:39:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 06:39:30 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 06:39:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:39:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:39:33 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.766s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:39:33 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.026[m] 3.627[deg]	[grasp_sample.py: 539]
+05/10 06:39:35 ERROR: [Worker 0] Worker 0 house 1 episode 79 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 06:39:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:39:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:39:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:39:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:39:37 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 06:39:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:39:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043158m	[env.py: 870]
+05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:39:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8214601   0.55306893  0.04315799] yaw=-180.5deg	[env.py: 1019]
+05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93978681  0.07888472  0.04315799] yaw=156.3deg	[env.py: 1019]
+05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93439041  0.77466247  0.04315799] yaw=-161.6deg	[env.py: 1019]
+05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:39:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=234.0ms, total=234.1ms	[env.py: 1075]
+05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.821, 0.553, 0.043)	[env.py: 1079]
+05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.5 deg	[env.py: 1082]
+05/10 06:39:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m	[env.py: 1086]
+05/10 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:39:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:39:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:39:37 INFO: [Worker 0] Worker 0 house 1 episode 80/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:39:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:39:37 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 06:39:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:39:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:39:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.919s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:39:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.481[m] 100.946[deg]	[grasp_sample.py: 539]
+05/10 06:39:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:39:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:39:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:39:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:40:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:40:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:40:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:40:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:40:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:40:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:40:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:40:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:40:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:40:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:40:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:40:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:40:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:40:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:40:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:40:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 06:40:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 06:40:38 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 06:40:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:40:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:40:39 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.788s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:40:39 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.132[deg]	[grasp_sample.py: 539]
+05/10 06:40:41 ERROR: [Worker 0] Worker 0 house 1 episode 79 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 06:40:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:40:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:40:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:40:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:40:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:40:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:40:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:40:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:40:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:40:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 06:40:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:40:43 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 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011852m	[env.py: 870]
+05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:40:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71020805  0.26384833  0.01185201] yaw=170.9deg	[env.py: 1019]
+05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 111.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99711137  0.53141996  0.01185201] yaw=-165.5deg	[env.py: 1019]
+05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93696449  0.27309846  0.01185201] yaw=166.0deg	[env.py: 1019]
+05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:40:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.7ms, total=126.7ms	[env.py: 1075]
+05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.710, 0.264, 0.012)	[env.py: 1079]
+05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.9 deg	[env.py: 1082]
+05/10 06:40:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m	[env.py: 1086]
+05/10 06:40:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:40:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:40:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:40:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:40:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:40:44 INFO: [Worker 0] Worker 0 house 1 episode 80/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:40:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:40:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 06:40:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:40:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:40:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.833s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:40:45 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.544[m] 83.814[deg]	[grasp_sample.py: 539]
+05/10 06:40:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:40:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:40:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:41:28 INFO: [Worker 0] Worker 0 house 1 episode 82 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:41:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:41:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:41:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:41:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:41:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:41:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:41:50 INFO: [Worker 0] Saved videos eagerly for episode 54 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:41:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 06:41:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:41:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:41:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:41:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:41:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:41:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:41:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 06:41:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 06:41:55 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 06:41:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:41:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:41:55 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.364s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:41:55 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.157[deg]	[grasp_sample.py: 539]
+05/10 06:41:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:41:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:41:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:42:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:42:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:42:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:42:03 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.35s (batch: 4.02s, save: 8.33s)	[pipeline.py: 300]
+05/10 06:42:03 INFO: [Worker 0] [PROFILE] Episode 82 house 1 success=True episode_total=0.64s:
+  episode_total: mean=196.20s, total=196.20s, count=1, min=196201.6ms, max=196201.6ms
+  sensor_polling: mean=482.6ms, total=144.77s, count=300, min=405.1ms, max=877.1ms
+  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8327.9ms, max=8327.9ms
+  physics_step: mean=23.9ms, total=7.17s, count=300, min=16.6ms, max=65.1ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4023.6ms, max=4023.6ms
+  task_sampling: mean=638.6ms, total=638.6ms, count=1, min=638.6ms, max=638.6ms
+  task_specific_sample: mean=634.5ms, total=634.5ms, count=1, min=634.5ms, max=634.5ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=483.7us, 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 06:42:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:42:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:42:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:42:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:42:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:42:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:42:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:42:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:42:05 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 06:42:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:42:05 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 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.032393m	[env.py: 870]
+05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:42:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83564042  0.69004512 -0.03239324] yaw=-171.8deg	[env.py: 1019]
+05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9606583   0.68464109 -0.03239324] yaw=-156.3deg	[env.py: 1019]
+05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:42:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=160.4ms, total=160.4ms	[env.py: 1075]
+05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.836, 0.690, -0.032)	[env.py: 1079]
+05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.8 deg	[env.py: 1082]
+05/10 06:42:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m	[env.py: 1086]
+05/10 06:42:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:42:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:42:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:42:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:42:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:42:05 INFO: [Worker 0] Worker 0 house 1 episode 83/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:42:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:42:05 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 06:42:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:42:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:42:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.436s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:42:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.430[m] 82.823[deg]	[grasp_sample.py: 539]
+05/10 06:42:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:42:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:42:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:42:08 INFO: [Worker 0] Worker 0 house 1 episode 80 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:42:10 INFO: [Worker 0] Worker 0 house 1 episode 79 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:42:30 INFO: [Worker 0] Saved videos eagerly for episode 58 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:42:30 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 06:42:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:42:30 INFO: [Worker 0] Saved videos eagerly for episode 57 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:42:30 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 06:42:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:42:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:42:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:42:41 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.38s (batch: 3.92s, save: 7.47s)	[pipeline.py: 300]
+05/10 06:42:42 INFO: [Worker 0] [PROFILE] Episode 79 house 1 success=True episode_total=0.36s:
+  episode_total: mean=205.86s, total=205.86s, count=1, min=205864.9ms, max=205864.9ms
+  sensor_polling: mean=478.8ms, total=143.64s, count=300, min=408.0ms, max=929.8ms
+  save_trajectories: mean=7.47s, total=7.47s, count=1, min=7465.1ms, max=7465.1ms
+  physics_step: mean=22.1ms, total=6.64s, count=300, min=14.0ms, max=102.4ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3917.9ms, max=3917.9ms
+  task_sampling: mean=356.8ms, total=356.8ms, count=1, min=356.8ms, max=356.8ms
+  task_specific_sample: mean=353.2ms, total=353.2ms, count=1, min=353.2ms, max=353.2ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=426.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 06:42:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:42:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:42:42 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.75s (batch: 3.82s, save: 7.92s)	[pipeline.py: 300]
+05/10 06:42:43 INFO: [Worker 0] [PROFILE] Episode 80 house 1 success=True episode_total=1.61s:
+  episode_total: mean=155.12s, total=465.35s, count=3, min=123632.3ms, max=186182.5ms
+  sensor_polling: mean=470.0ms, total=346.87s, count=738, min=389.2ms, max=979.4ms
+  physics_step: mean=22.5ms, total=16.62s, count=738, min=15.2ms, max=88.8ms
+  save_trajectories: mean=7.92s, total=7.92s, count=1, min=7922.3ms, max=7922.3ms
+  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3823.7ms, max=3823.7ms
+  task_sampling: mean=535.6ms, total=1.61s, count=3, min=477.6ms, max=649.5ms
+  task_specific_sample: mean=530.2ms, total=1.59s, count=3, min=468.6ms, max=645.5ms
+  scene_randomize: mean=1.6ms, total=4.7ms, count=3, min=1.3ms, max=2.0ms
+  mj_forward_sync: mean=447.9us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.7us, 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 06:42:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:42:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:42:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:42:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:42:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:42:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:42:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:42:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:42:44 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 06:42:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:42:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006626m	[env.py: 870]
+05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:42:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 132.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79265124  0.31213097  0.00662562] yaw=173.0deg	[env.py: 1019]
+05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95934478  0.62828716  0.00662562] yaw=-161.0deg	[env.py: 1019]
+05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:42:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=441.2ms, total=441.3ms	[env.py: 1075]
+05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.793, 0.312, 0.007)	[env.py: 1079]
+05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.0 deg	[env.py: 1082]
+05/10 06:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m	[env.py: 1086]
+05/10 06:42:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:42:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:42:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:42:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:42:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:42:45 INFO: [Worker 0] Worker 0 house 1 episode 80/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:42:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:42:45 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 06:42:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:42:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:42:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:42:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:42:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:42:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:42:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:42:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:42:45 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 06:42:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:42:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.043304m	[env.py: 870]
+05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:42:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78956908  0.33352073 -0.04330387] yaw=181.6deg	[env.py: 1019]
+05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.00014666  0.70812025 -0.04330387] yaw=-162.5deg	[env.py: 1019]
+05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69151127  0.89193224 -0.04330387] yaw=-166.2deg	[env.py: 1019]
+05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:42:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.1ms, total=128.1ms	[env.py: 1075]
+05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.790, 0.334, -0.043)	[env.py: 1079]
+05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.6 deg	[env.py: 1082]
+05/10 06:42:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m	[env.py: 1086]
+05/10 06:42:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:42:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:42:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:42:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:42:45 INFO: [Worker 0] Worker 0 house 1 episode 81/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:42:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.796s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:42:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.449[m] 78.707[deg]	[grasp_sample.py: 539]
+05/10 06:42:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:42:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:42:46 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 06:42:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:42:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:42:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:42:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:42:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:42:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.745s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:42:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.494[m] 92.823[deg]	[grasp_sample.py: 539]
+05/10 06:42:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:42:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:42:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:42:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:43:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:43:20 INFO: [Worker 0] Worker 0 house 1 episode 80 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:43:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:43:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:43:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:43:43 INFO: [Worker 0] Saved videos eagerly for episode 59 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:43:43 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 06:43:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:43:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:43:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:43:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:43:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:43:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:43:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.72s (batch: 4.02s, save: 7.71s)	[pipeline.py: 300]
+05/10 06:43:55 INFO: [Worker 0] [PROFILE] Episode 80 house 1 success=True episode_total=0.84s:
+  episode_total: mean=164.71s, total=329.43s, count=2, min=137254.8ms, max=192171.3ms
+  sensor_polling: mean=473.1ms, total=247.42s, count=523, min=385.6ms, max=895.4ms
+  physics_step: mean=22.0ms, total=11.53s, count=523, min=13.9ms, max=78.4ms
+  save_trajectories: mean=7.71s, total=7.71s, count=1, min=7706.1ms, max=7706.1ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4017.8ms, max=4017.8ms
+  task_sampling: mean=417.7ms, total=835.4ms, count=2, min=382.2ms, max=453.2ms
+  task_specific_sample: mean=414.0ms, total=828.0ms, count=2, min=379.3ms, max=448.7ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.2ms, max=2.9ms
+  mj_forward_sync: mean=463.8us, total=0.9ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=18.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 06:43:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:43:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:43:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:43:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:43:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:43:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:43:57 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 06:43:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:43:57 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 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014801m	[env.py: 870]
+05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:43:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91285917  0.6283346  -0.0148015 ] yaw=-158.9deg	[env.py: 1019]
+05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76614309  0.52460541 -0.0148015 ] yaw=-179.8deg	[env.py: 1019]
+05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64899519  0.2700138  -0.0148015 ] yaw=179.0deg	[env.py: 1019]
+05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:43:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=81.4ms, total=81.5ms	[env.py: 1075]
+05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.913, 0.628, -0.015)	[env.py: 1079]
+05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.9 deg	[env.py: 1082]
+05/10 06:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/10 06:43:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:43:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:43:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:43:57 INFO: [Worker 0] Worker 0 house 1 episode 81/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:43:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:43:57 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 06:43:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:43:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:43:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.463s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:43:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.405[m] 98.663[deg]	[grasp_sample.py: 539]
+05/10 06:43:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:43:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:43:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:44:38 INFO: [Worker 0] Worker 0 house 1 episode 83 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:44:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:44:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:44:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:45:02 INFO: [Worker 0] Saved videos eagerly for episode 55 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:45:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 06:45:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:45:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:45:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:45:18 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.00s (batch: 5.18s, save: 10.82s)	[pipeline.py: 300]
+05/10 06:45:19 INFO: [Worker 0] [PROFILE] Episode 83 house 1 success=True episode_total=0.41s:
+  episode_total: mean=193.82s, total=193.82s, count=1, min=193816.4ms, max=193816.4ms
+  sensor_polling: mean=473.5ms, total=142.05s, count=300, min=398.0ms, max=881.2ms
+  save_trajectories: mean=10.82s, total=10.82s, count=1, min=10821.1ms, max=10821.1ms
+  physics_step: mean=21.8ms, total=6.53s, count=300, min=13.9ms, max=91.3ms
+  save_batch_prep: mean=5.18s, total=5.18s, count=1, min=5179.7ms, max=5179.7ms
+  task_sampling: mean=414.9ms, total=414.9ms, count=1, min=414.9ms, max=414.9ms
+  task_specific_sample: mean=411.6ms, total=411.6ms, count=1, min=411.6ms, max=411.6ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=372.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 06:45:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:45:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:45:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:45:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:45:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:45:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:45:20 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 06:45:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:45:20 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 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040370m	[env.py: 870]
+05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:45:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92782122  1.0069993  -0.04036956] yaw=-139.3deg	[env.py: 1019]
+05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.03555654  0.21928326 -0.04036956] yaw=160.0deg	[env.py: 1019]
+05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68292398  0.29905423 -0.04036956] yaw=160.4deg	[env.py: 1019]
+05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:45:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.0ms, total=175.1ms	[env.py: 1075]
+05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.928, 1.007, -0.040)	[env.py: 1079]
+05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.3 deg	[env.py: 1082]
+05/10 06:45:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
+05/10 06:45:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:45:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:45:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:45:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:45:21 INFO: [Worker 0] Worker 0 house 1 episode 84/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:45:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:45:21 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 06:45:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:45:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:45:21 INFO: [Worker 0] Worker 0 house 1 episode 81 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:45:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.546s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:45:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.498[m] 87.369[deg]	[grasp_sample.py: 539]
+05/10 06:45:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:45:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:45:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:45:25 INFO: [Worker 0] Worker 0 house 1 episode 80 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:45:44 INFO: [Worker 0] Saved videos eagerly for episode 58 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:45:44 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 06:45:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:45:46 INFO: [Worker 0] Saved videos eagerly for episode 59 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:45:46 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 06:45:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:45:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:45:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:45:58 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.82s (batch: 4.21s, save: 9.61s)	[pipeline.py: 300]
+05/10 06:45:58 INFO: [Worker 0] [PROFILE] Episode 81 house 1 success=True episode_total=0.39s:
+  episode_total: mean=193.25s, total=193.25s, count=1, min=193245.2ms, max=193245.2ms
+  sensor_polling: mean=479.8ms, total=143.94s, count=300, min=403.0ms, max=927.7ms
+  save_trajectories: mean=9.61s, total=9.61s, count=1, min=9608.2ms, max=9608.2ms
+  physics_step: mean=23.4ms, total=7.01s, count=300, min=16.4ms, max=67.2ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4213.8ms, max=4213.8ms
+  task_sampling: mean=393.2ms, total=393.2ms, count=1, min=393.2ms, max=393.2ms
+  task_specific_sample: mean=389.0ms, total=389.0ms, count=1, min=389.0ms, max=389.0ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=445.2us, 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 06:45:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:45:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:45:59 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.04s (batch: 4.31s, save: 8.72s)	[pipeline.py: 300]
+05/10 06:46:00 INFO: [Worker 0] [PROFILE] Episode 80 house 1 success=True episode_total=0.76s:
+  episode_total: mean=196.15s, total=196.15s, count=1, min=196145.1ms, max=196145.1ms
+  sensor_polling: mean=478.0ms, total=143.40s, count=300, min=405.3ms, max=877.8ms
+  save_trajectories: mean=8.72s, total=8.72s, count=1, min=8724.8ms, max=8724.8ms
+  physics_step: mean=24.2ms, total=7.25s, count=300, min=16.9ms, max=61.6ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4312.3ms, max=4312.3ms
+  task_sampling: mean=759.0ms, total=759.0ms, count=1, min=759.0ms, max=759.0ms
+  task_specific_sample: mean=755.0ms, total=755.0ms, count=1, min=755.0ms, max=755.0ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=470.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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 06:46:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:46:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:46:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:46:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:46:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:46:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:46:00 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 06:46:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:46:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.029046m	[env.py: 870]
+05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:46:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87771211  0.19003719 -0.02904612] yaw=153.9deg	[env.py: 1019]
+05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.1455496   1.05616479 -0.02904612] yaw=-141.4deg	[env.py: 1019]
+05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9009074   0.86318513 -0.02904612] yaw=-148.4deg	[env.py: 1019]
+05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:46:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.4ms, total=220.4ms	[env.py: 1075]
+05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.878, 0.190, -0.029)	[env.py: 1079]
+05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.9 deg	[env.py: 1082]
+05/10 06:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
+05/10 06:46:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:46:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:46:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:46:01 INFO: [Worker 0] Worker 0 house 1 episode 82/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:46:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:46:01 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 06:46:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:46:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:46:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:46:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:46:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:46:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:46:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:46:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:46:02 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 06:46:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:46:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043098m	[env.py: 870]
+05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:46:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:46:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.860s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:46:02 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.469[m] 92.312[deg]	[grasp_sample.py: 539]
+05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:46:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78278637  1.03135301  0.04309768] yaw=-149.4deg	[env.py: 1019]
+05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81380212  1.03402067  0.04309768] yaw=-140.1deg	[env.py: 1019]
+05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84479271  0.40963577  0.04309768] yaw=180.9deg	[env.py: 1019]
+05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:46:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=243.1ms, total=243.1ms	[env.py: 1075]
+05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.783, 1.031, 0.043)	[env.py: 1079]
+05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.4 deg	[env.py: 1082]
+05/10 06:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m	[env.py: 1086]
+05/10 06:46:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:46:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:46:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:46:02 INFO: [Worker 0] Worker 0 house 1 episode 81/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:46:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:46:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 06:46:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:46:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:46:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:46:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:46:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.539s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:46:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.624[m] 82.760[deg]	[grasp_sample.py: 539]
+05/10 06:46:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:46:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:46:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:46:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:46:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:46:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:46:33 INFO: [Worker 0] Worker 0 house 1 episode 81 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:46:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:46:54 INFO: [Worker 0] Saved videos eagerly for episode 60 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:46:54 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 06:46:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:46:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:47:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:47:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:47:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:47:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:47:06 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.92s (batch: 4.45s, save: 7.47s)	[pipeline.py: 300]
+05/10 06:47:07 INFO: [Worker 0] [PROFILE] Episode 81 house 1 success=True episode_total=0.33s:
+  episode_total: mean=189.82s, total=189.82s, count=1, min=189815.9ms, max=189815.9ms
+  sensor_polling: mean=482.3ms, total=144.70s, count=300, min=397.7ms, max=898.3ms
+  save_trajectories: mean=7.47s, total=7.47s, count=1, min=7473.7ms, max=7473.7ms
+  physics_step: mean=22.5ms, total=6.75s, count=300, min=14.0ms, max=53.5ms
+  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4445.3ms, max=4445.3ms
+  task_sampling: mean=329.8ms, total=329.8ms, count=1, min=329.8ms, max=329.8ms
+  task_specific_sample: mean=326.3ms, total=326.3ms, count=1, min=326.3ms, max=326.3ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=392.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.1us, 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 06:47:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:47:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:47:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:47:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:47:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:47:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:47:08 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 06:47:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:47:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045057m	[env.py: 870]
+05/10 06:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:47:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.83548742  0.51170399  0.04505699] yaw=-182.9deg	[env.py: 1019]
+05/10 06:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91510433  0.96688608  0.04505699] yaw=-149.5deg	[env.py: 1019]
+05/10 06:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:47:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=189.1ms, total=189.2ms	[env.py: 1075]
+05/10 06:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.835, 0.512, 0.045)	[env.py: 1079]
+05/10 06:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.9 deg	[env.py: 1082]
+05/10 06:47:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m	[env.py: 1086]
+05/10 06:47:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:47:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:47:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:47:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:47:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:47:09 INFO: [Worker 0] Worker 0 house 1 episode 82/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:47:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:47:09 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 06:47:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:47:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:47:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.472s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:47:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.461[m] 97.313[deg]	[grasp_sample.py: 539]
+05/10 06:47:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:47:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:47:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:47:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:47:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:47:51 INFO: [Worker 0] Worker 0 house 1 episode 84 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:47:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:48:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:48:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:48:15 INFO: [Worker 0] Saved videos eagerly for episode 56 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:48:15 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 06:48:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:48:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:48:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:48:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:48:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:48:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:48:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:48:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:48:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:48:29 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.98s (batch: 4.19s, save: 9.79s)	[pipeline.py: 300]
+05/10 06:48:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:48:30 INFO: [Worker 0] [PROFILE] Episode 84 house 1 success=True episode_total=0.45s:
+  episode_total: mean=189.37s, total=189.37s, count=1, min=189369.1ms, max=189369.1ms
+  sensor_polling: mean=463.1ms, total=138.93s, count=300, min=387.4ms, max=883.5ms
+  save_trajectories: mean=9.79s, total=9.79s, count=1, min=9786.7ms, max=9786.7ms
+  physics_step: mean=22.0ms, total=6.59s, count=300, min=16.7ms, max=56.2ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4192.8ms, max=4192.8ms
+  task_sampling: mean=449.1ms, total=449.1ms, count=1, min=449.1ms, max=449.1ms
+  task_specific_sample: mean=445.7ms, total=445.7ms, count=1, min=445.7ms, max=445.7ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=373.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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 06:48:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:48:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 06:48:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 06:48:31 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 06:48:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:48:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:48:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:48:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:48:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:48:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:48:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:48:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:48:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:48:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:48:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 06:48:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:48:31 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 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029219m	[env.py: 870]
+05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:48:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00190909  0.75290157  0.02921882] yaw=-149.9deg	[env.py: 1019]
+05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89321284  0.23927822  0.02921882] yaw=154.1deg	[env.py: 1019]
+05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:48:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=193.3ms, total=193.3ms	[env.py: 1075]
+05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.002, 0.753, 0.029)	[env.py: 1079]
+05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.9 deg	[env.py: 1082]
+05/10 06:48:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m	[env.py: 1086]
+05/10 06:48:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:48:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:48:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:48:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:48:31 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.540s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:48:31 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.168[deg]	[grasp_sample.py: 539]
+05/10 06:48:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:48:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:48:31 INFO: [Worker 0] Worker 0 house 1 episode 85/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:48:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:48:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 06:48:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:48:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:48:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:48:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:48:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.536s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:48:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.353[m] 94.677[deg]	[grasp_sample.py: 539]
+05/10 06:48:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:48:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:48:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:48:34 INFO: [Worker 0] Worker 0 house 1 episode 81 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:48:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:48:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:48:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:48:54 INFO: [Worker 0] Worker 0 house 1 episode 82 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:49:00 INFO: [Worker 0] Saved videos eagerly for episode 60 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:49:00 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 06:49:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:49:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:49:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:49:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:49:13 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.43s (batch: 3.99s, save: 9.44s)	[pipeline.py: 300]
+05/10 06:49:14 INFO: [Worker 0] [PROFILE] Episode 81 house 1 success=True episode_total=0.55s:
+  episode_total: mean=192.28s, total=192.28s, count=1, min=192280.2ms, max=192280.2ms
+  sensor_polling: mean=465.5ms, total=139.65s, count=300, min=401.0ms, max=801.9ms
+  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9437.4ms, max=9437.4ms
+  physics_step: mean=21.7ms, total=6.50s, count=300, min=16.6ms, max=47.3ms
+  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3992.6ms, max=3992.6ms
+  task_sampling: mean=550.2ms, total=550.2ms, count=1, min=550.2ms, max=550.2ms
+  task_specific_sample: mean=546.2ms, total=546.2ms, count=1, min=546.2ms, max=546.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=429.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 06:49:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:49:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:49:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:49:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:49:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:49:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:49:16 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 06:49:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:49:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002323m	[env.py: 870]
+05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:49:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79718707  1.01368041 -0.00232322] yaw=-138.6deg	[env.py: 1019]
+05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02821656  0.26133154 -0.00232322] yaw=167.4deg	[env.py: 1019]
+05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.6451918   0.5292662  -0.00232322] yaw=-176.3deg	[env.py: 1019]
+05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:49:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.0ms, total=80.0ms	[env.py: 1075]
+05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.797, 1.014, -0.002)	[env.py: 1079]
+05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.6 deg	[env.py: 1082]
+05/10 06:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m	[env.py: 1086]
+05/10 06:49:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:49:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:49:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:49:16 INFO: [Worker 0] Worker 0 house 1 episode 82/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:49:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:49:16 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 06:49:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:49:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:49:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:49:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.808s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:49:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.582[m] 80.491[deg]	[grasp_sample.py: 539]
+05/10 06:49:19 ERROR: [Worker 0] Worker 0 house 1 episode 82 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 06:49:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:49:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:49:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:49:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:49:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:49:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:49:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:49:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:49:21 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 06:49:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:49:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014213m	[env.py: 870]
+05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:49:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93220755  1.09896122 -0.01421254] yaw=-146.6deg	[env.py: 1019]
+05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.753702    0.81811377 -0.01421254] yaw=-155.5deg	[env.py: 1019]
+05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08389837  1.02823231 -0.01421254] yaw=-143.8deg	[env.py: 1019]
+05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:49:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.8ms, total=153.8ms	[env.py: 1075]
+05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.932, 1.099, -0.014)	[env.py: 1079]
+05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.6 deg	[env.py: 1082]
+05/10 06:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m	[env.py: 1086]
+05/10 06:49:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:49:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:49:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:49:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:49:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:49:22 INFO: [Worker 0] Worker 0 house 1 episode 83/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:49:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:49:22 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 06:49:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:49:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:49:22 INFO: [Worker 0] Saved videos eagerly for episode 59 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:49:22 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 06:49:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:49:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:49:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.298s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:49:26 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.581[m] 91.172[deg]	[grasp_sample.py: 539]
+05/10 06:49:27 ERROR: [Worker 0] Worker 0 house 1 episode 83 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 06:49:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:49:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:49:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:49:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:49:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:49:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:49:29 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 06:49:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:49:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013561m	[env.py: 870]
+05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:49:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08481844  0.94119996  0.01356128] yaw=-135.5deg	[env.py: 1019]
+05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96679279  0.60862346  0.01356128] yaw=-161.6deg	[env.py: 1019]
+05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.75185462 -0.01213246  0.01356128] yaw=161.0deg	[env.py: 1019]
+05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:49:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.0ms, total=144.0ms	[env.py: 1075]
+05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.085, 0.941, 0.014)	[env.py: 1079]
+05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.5 deg	[env.py: 1082]
+05/10 06:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.770m	[env.py: 1086]
+05/10 06:49:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:49:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:49:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:49:29 INFO: [Worker 0] Worker 0 house 1 episode 84/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:49:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:49:29 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 06:49:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:49:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:49:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.569s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:49:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.379[m] 93.759[deg]	[grasp_sample.py: 539]
+05/10 06:49:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:49:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:49:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:49:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:49:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:49:35 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.26s (batch: 4.82s, save: 8.44s)	[pipeline.py: 300]
+05/10 06:49:36 INFO: [Worker 0] [PROFILE] Episode 82 house 1 success=True episode_total=0.55s:
+  episode_total: mean=215.80s, total=215.80s, count=1, min=215797.7ms, max=215797.7ms
+  sensor_polling: mean=480.5ms, total=144.15s, count=300, min=410.8ms, max=759.2ms
+  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8438.9ms, max=8438.9ms
+  physics_step: mean=21.6ms, total=6.47s, count=300, min=15.8ms, max=34.9ms
+  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4816.2ms, max=4816.2ms
+  task_sampling: mean=548.6ms, total=548.6ms, count=1, min=548.6ms, max=548.6ms
+  task_specific_sample: mean=544.5ms, total=544.5ms, count=1, min=544.5ms, max=544.5ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=525.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=14.4us, 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 06:49:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:49:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:49:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:49:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:49:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:49:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:49:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:49:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:49:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 06:49:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:49:38 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 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004153m	[env.py: 870]
+05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:49:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98614736  0.38114498  0.00415346] yaw=166.9deg	[env.py: 1019]
+05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08301213  0.86295182  0.00415346] yaw=-153.9deg	[env.py: 1019]
+05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.05121667  0.19993425  0.00415346] yaw=154.9deg	[env.py: 1019]
+05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:49:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=455.0ms, total=455.0ms	[env.py: 1075]
+05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.986, 0.381, 0.004)	[env.py: 1079]
+05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.9 deg	[env.py: 1082]
+05/10 06:49:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.723m	[env.py: 1086]
+05/10 06:49:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:49:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:49:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:49:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:49:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:49:38 INFO: [Worker 0] Worker 0 house 1 episode 83/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:49:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:49:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 06:49:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:49:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:49:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.001s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:49:40 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.274[m] 89.921[deg]	[grasp_sample.py: 539]
+05/10 06:49:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:49:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:49:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:49:45 INFO: [Worker 0] Worker 0 house 1 episode 82 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:50:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:50:08 INFO: [Worker 0] Saved videos eagerly for episode 61 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:50:08 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 06:50:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:50:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:50:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:50:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:50:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:50:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:50:19 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.70s (batch: 4.00s, save: 7.70s)	[pipeline.py: 300]
+05/10 06:50:20 INFO: [Worker 0] [PROFILE] Episode 82 house 1 success=True episode_total=0.49s:
+  episode_total: mean=191.54s, total=191.54s, count=1, min=191538.7ms, max=191538.7ms
+  sensor_polling: mean=479.4ms, total=143.83s, count=300, min=404.1ms, max=858.7ms
+  save_trajectories: mean=7.70s, total=7.70s, count=1, min=7695.7ms, max=7695.7ms
+  physics_step: mean=22.8ms, total=6.85s, count=300, min=14.3ms, max=55.4ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4000.1ms, max=4000.1ms
+  task_sampling: mean=492.0ms, total=492.0ms, count=1, min=492.0ms, max=492.0ms
+  task_specific_sample: mean=487.5ms, total=487.5ms, count=1, min=487.5ms, max=487.5ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=579.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 06:50:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:50:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:50:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:50:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:50:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:50:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:50:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:50:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:50:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:50:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:50:21 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 06:50:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:50:21 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 06:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047750m	[env.py: 870]
+05/10 06:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:50:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85479703  0.3311793   0.04774962] yaw=158.6deg	[env.py: 1019]
+05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81654759  0.75241055  0.04774962] yaw=-173.3deg	[env.py: 1019]
+05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85792239  0.19458369  0.04774962] yaw=157.0deg	[env.py: 1019]
+05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:50:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.2ms, total=120.3ms	[env.py: 1075]
+05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.855, 0.331, 0.048)	[env.py: 1079]
+05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.6 deg	[env.py: 1082]
+05/10 06:50:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
+05/10 06:50:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:50:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:50:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:50:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:50:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:50:22 INFO: [Worker 0] Worker 0 house 1 episode 83/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:50:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:50:22 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 06:50:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:50:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:50:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.456s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:50:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.431[m] 89.202[deg]	[grasp_sample.py: 539]
+05/10 06:50:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:50:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:50:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:51:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:51:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:51:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:51:04 INFO: [Worker 0] Worker 0 house 1 episode 85 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:51:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:51:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:51:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:51:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:51:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:51:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:51:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 06:51:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 06:51:13 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 06:51:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:51:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:51:14 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.834s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:51:14 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.188[deg]	[grasp_sample.py: 539]
+05/10 06:51:15 ERROR: [Worker 0] Worker 0 house 1 episode 83 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 06:51:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:51:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:51:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:51:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:51:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:51:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:51:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:51:17 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 06:51:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:51:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008244m	[env.py: 870]
+05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:51:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71053753  0.07019964  0.00824408] yaw=153.0deg	[env.py: 1019]
+05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01420095  0.70326126  0.00824408] yaw=-160.4deg	[env.py: 1019]
+05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93600876  1.26641132  0.00824408] yaw=-143.9deg	[env.py: 1019]
+05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:51:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=374.2ms, total=374.3ms	[env.py: 1075]
+05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.711, 0.070, 0.008)	[env.py: 1079]
+05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.0 deg	[env.py: 1082]
+05/10 06:51:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
+05/10 06:51:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:51:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:51:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:51:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:51:17 INFO: [Worker 0] Worker 0 house 1 episode 84/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:51:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:51:18 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 06:51:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:51:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:51:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.643s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:51:19 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.633[m] 89.985[deg]	[grasp_sample.py: 539]
+05/10 06:51:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:51:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:51:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:51:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:51:26 INFO: [Worker 0] Saved videos eagerly for episode 57 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:51:26 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 06:51:26 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/10 06:51:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:51:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:51:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.24s (batch: 3.99s, save: 8.25s)	[pipeline.py: 300]
+05/10 06:51:39 INFO: [Worker 0] [PROFILE] Episode 85 house 1 success=True episode_total=0.45s:
+  episode_total: mean=188.30s, total=188.30s, count=1, min=188299.7ms, max=188299.7ms
+  sensor_polling: mean=483.8ms, total=141.74s, count=293, min=398.0ms, max=963.4ms
+  save_trajectories: mean=8.25s, total=8.25s, count=1, min=8246.0ms, max=8246.0ms
+  physics_step: mean=22.8ms, total=6.68s, count=293, min=13.7ms, max=79.8ms
+  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3989.9ms, max=3989.9ms
+  task_sampling: mean=448.6ms, total=448.6ms, count=1, min=448.6ms, max=448.6ms
+  task_specific_sample: mean=444.5ms, total=444.5ms, count=1, min=444.5ms, max=444.5ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=470.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 06:51:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:51:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:51:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:51:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:51:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:51:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:51:41 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 06:51:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:51:41 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 06:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034213m	[env.py: 870]
+05/10 06:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:51:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77853417  0.8486638   0.03421306] yaw=-169.0deg	[env.py: 1019]
+05/10 06:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91189546  0.17037005  0.03421306] yaw=154.5deg	[env.py: 1019]
+05/10 06:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82288644  0.06201047  0.03421306] yaw=159.7deg	[env.py: 1019]
+05/10 06:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:51:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=513.3ms, total=513.3ms	[env.py: 1075]
+05/10 06:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.779, 0.849, 0.034)	[env.py: 1079]
+05/10 06:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.0 deg	[env.py: 1082]
+05/10 06:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m	[env.py: 1086]
+05/10 06:51:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:51:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:51:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:51:42 INFO: [Worker 0] Worker 0 house 1 episode 86/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:51:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.172s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:51:42 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 06:51:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:51:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:51:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.562s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:51:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.573[m] 94.530[deg]	[grasp_sample.py: 539]
+05/10 06:51:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:51:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:51:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:52:02 INFO: [Worker 0] Worker 0 house 1 episode 84 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:52:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:52:25 INFO: [Worker 0] Saved videos eagerly for episode 61 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:52:25 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 06:52:25 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/10 06:52:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:52:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:52:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:52:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:52:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.27s (batch: 4.83s, save: 8.44s)	[pipeline.py: 300]
+05/10 06:52:39 INFO: [Worker 0] [PROFILE] Episode 84 house 1 success=True episode_total=1.23s:
+  episode_total: mean=66.76s, total=200.27s, count=3, min=3759.9ms, max=190291.7ms
+  sensor_polling: mean=472.7ms, total=141.33s, count=299, min=399.3ms, max=1056.6ms
+  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8439.2ms, max=8439.2ms
+  physics_step: mean=22.5ms, total=6.73s, count=299, min=17.1ms, max=63.0ms
+  save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4831.2ms, max=4831.2ms
+  task_sampling: mean=410.5ms, total=1.23s, count=3, min=345.4ms, max=490.9ms
+  task_specific_sample: mean=407.2ms, total=1.22s, count=3, min=341.7ms, max=487.4ms
+  scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=1.1ms, max=2.3ms
+  mj_forward_sync: mean=474.4us, total=1.4ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=16.9us, 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 06:52:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:52:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:52:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:52:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:52:41 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 06:52:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:52:41 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 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029289m	[env.py: 870]
+05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:52:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05556598  0.75929606  0.02928938] yaw=-152.6deg	[env.py: 1019]
+05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74654557  0.46270049  0.02928938] yaw=177.4deg	[env.py: 1019]
+05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67698835  0.08918051  0.02928938] yaw=159.2deg	[env.py: 1019]
+05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:52:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.8ms, total=121.9ms	[env.py: 1075]
+05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.056, 0.759, 0.029)	[env.py: 1079]
+05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.6 deg	[env.py: 1082]
+05/10 06:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.704m	[env.py: 1086]
+05/10 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:52:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:52:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:52:41 INFO: [Worker 0] Worker 0 house 1 episode 85/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:52:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:52:41 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 06:52:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:52:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:52:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.472s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:52:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.229[m] 86.467[deg]	[grasp_sample.py: 539]
+05/10 06:52:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:52:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:52:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:52:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:52:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:52:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:53:01 INFO: [Worker 0] Worker 0 house 1 episode 83 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:53:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:53:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:53:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:53:20 INFO: [Worker 0] Saved videos eagerly for episode 62 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:53:20 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 06:53:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:53:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:53:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:53:32 INFO: [Worker 0] Successfully saved trajectory data for sim in 11.76s (batch: 3.92s, save: 7.84s)	[pipeline.py: 300]
+05/10 06:53:33 INFO: [Worker 0] [PROFILE] Episode 83 house 1 success=True episode_total=0.43s:
+  episode_total: mean=191.06s, total=191.06s, count=1, min=191063.2ms, max=191063.2ms
+  sensor_polling: mean=480.5ms, total=144.15s, count=300, min=404.4ms, max=946.1ms
+  save_trajectories: mean=7.84s, total=7.84s, count=1, min=7839.7ms, max=7839.7ms
+  physics_step: mean=24.7ms, total=7.40s, count=300, min=16.8ms, max=86.4ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3917.4ms, max=3917.4ms
+  task_sampling: mean=426.6ms, total=426.6ms, count=1, min=426.6ms, max=426.6ms
+  task_specific_sample: mean=422.5ms, total=422.5ms, count=1, min=422.5ms, max=422.5ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=452.7us, 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 06:53:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:53:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:53:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:53:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:53:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:53:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:53:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:53:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:53:34 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 06:53:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:53:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007276m	[env.py: 870]
+05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:53:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7956867   0.34554942  0.00727575] yaw=171.0deg	[env.py: 1019]
+05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79661705  0.48626608  0.00727575] yaw=-168.3deg	[env.py: 1019]
+05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81350933  0.2542384   0.00727575] yaw=166.9deg	[env.py: 1019]
+05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:53:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.4ms, total=116.4ms	[env.py: 1075]
+05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.796, 0.346, 0.007)	[env.py: 1079]
+05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.0 deg	[env.py: 1082]
+05/10 06:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m	[env.py: 1086]
+05/10 06:53:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:53:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:53:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:53:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:53:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:53:34 INFO: [Worker 0] Worker 0 house 1 episode 84/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:53:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:53:35 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 06:53:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:53:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:53:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.576s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:53:35 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.495[m] 91.024[deg]	[grasp_sample.py: 539]
+05/10 06:53:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:53:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:53:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:54:04 INFO: [Worker 0] Worker 0 house 1 episode 84 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:54:18 INFO: [Worker 0] Worker 0 house 1 episode 86 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:54:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:54:27 INFO: [Worker 0] Saved videos eagerly for episode 60 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:54:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 06:54:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:54:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:54:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:54:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:54:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.35s (batch: 3.74s, save: 8.60s)	[pipeline.py: 300]
+05/10 06:54:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:54:40 INFO: [Worker 0] Saved videos eagerly for episode 58 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:54:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 06:54:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:54:40 INFO: [Worker 0] [PROFILE] Episode 84 house 1 success=True episode_total=1.38s:
+  episode_total: mean=150.26s, total=300.52s, count=2, min=97409.6ms, max=203113.1ms
+  sensor_polling: mean=469.5ms, total=208.47s, count=444, min=383.9ms, max=936.4ms
+  physics_step: mean=21.3ms, total=9.46s, count=444, min=13.6ms, max=63.5ms
+  save_trajectories: mean=8.60s, total=8.60s, count=1, min=8603.7ms, max=8603.7ms
+  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3743.4ms, max=3743.4ms
+  task_sampling: mean=691.4ms, total=1.38s, count=2, min=626.1ms, max=756.7ms
+  task_specific_sample: mean=687.6ms, total=1.38s, count=2, min=622.9ms, max=752.3ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.3ms, max=2.9ms
+  mj_forward_sync: mean=516.5us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=21.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 06:54:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:54:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:54:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:54:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:54:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:54:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:54:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:54:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:54:42 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 06:54:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:54:42 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 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004813m	[env.py: 870]
+05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:54:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02399905  0.1882757   0.00481298] yaw=152.3deg	[env.py: 1019]
+05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03281834  0.14257741  0.00481298] yaw=144.0deg	[env.py: 1019]
+05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.76619615  0.72005702  0.00481298] yaw=-171.8deg	[env.py: 1019]
+05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:54:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=224.7ms, total=224.8ms	[env.py: 1075]
+05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.024, 0.188, 0.005)	[env.py: 1079]
+05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.3 deg	[env.py: 1082]
+05/10 06:54:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.739m	[env.py: 1086]
+05/10 06:54:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:54:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:54:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:54:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:54:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:54:42 INFO: [Worker 0] Worker 0 house 1 episode 85/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:54:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:54:42 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 06:54:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:54:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:54:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.942s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:54:43 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.273[m] 83.180[deg]	[grasp_sample.py: 539]
+05/10 06:54:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:54:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:54:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:54:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:54:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:54:56 INFO: [Worker 0] Successfully saved trajectory data for sim in 16.97s (batch: 4.65s, save: 12.33s)	[pipeline.py: 300]
+05/10 06:54:57 INFO: [Worker 0] [PROFILE] Episode 86 house 1 success=True episode_total=0.84s:
+  episode_total: mean=196.10s, total=196.10s, count=1, min=196104.6ms, max=196104.6ms
+  sensor_polling: mean=472.2ms, total=141.66s, count=300, min=400.4ms, max=961.1ms
+  save_trajectories: mean=12.33s, total=12.33s, count=1, min=12325.3ms, max=12325.3ms
+  physics_step: mean=21.9ms, total=6.58s, count=300, min=16.6ms, max=69.9ms
+  save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4649.2ms, max=4649.2ms
+  task_sampling: mean=837.1ms, total=837.1ms, count=1, min=837.1ms, max=837.1ms
+  task_specific_sample: mean=832.2ms, total=832.2ms, count=1, min=832.2ms, max=832.2ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=565.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 06:54:59 INFO: [Worker 0] Worker 0 house 1 episode 85 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:54:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:54:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:54:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:54:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:54:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:54:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:54:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:54:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:54:59 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 06:54:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:54:59 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 06:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035686m	[env.py: 870]
+05/10 06:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:54:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:54:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.84140365  0.44135399  0.03568607] yaw=181.6deg	[env.py: 1019]
+05/10 06:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.97533112  1.07128067  0.03568607] yaw=-133.5deg	[env.py: 1019]
+05/10 06:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:55:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=723.8ms, total=723.8ms	[env.py: 1075]
+05/10 06:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.841, 0.441, 0.036)	[env.py: 1079]
+05/10 06:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.6 deg	[env.py: 1082]
+05/10 06:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m	[env.py: 1086]
+05/10 06:55:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:55:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:55:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:55:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:55:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:55:00 INFO: [Worker 0] Worker 0 house 1 episode 87/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:55:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:55:00 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 06:55:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:55:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:55:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.646s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:55:01 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.378[m] 76.208[deg]	[grasp_sample.py: 539]
+05/10 06:55:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:55:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:55:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:55:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:55:18 INFO: [Worker 0] Saved videos eagerly for episode 62 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:55:18 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 06:55:18 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/10 06:55:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:55:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:55:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:55:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:55:30 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.14s (batch: 3.60s, save: 8.54s)	[pipeline.py: 300]
+05/10 06:55:31 INFO: [Worker 0] [PROFILE] Episode 85 house 1 success=True episode_total=0.39s:
+  episode_total: mean=170.26s, total=170.26s, count=1, min=170257.3ms, max=170257.3ms
+  sensor_polling: mean=481.2ms, total=128.00s, count=266, min=394.7ms, max=1052.0ms
+  save_trajectories: mean=8.54s, total=8.54s, count=1, min=8541.9ms, max=8541.9ms
+  physics_step: mean=22.7ms, total=6.04s, count=266, min=13.6ms, max=113.3ms
+  save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3599.3ms, max=3599.3ms
+  task_sampling: mean=391.7ms, total=391.7ms, count=1, min=391.7ms, max=391.7ms
+  task_specific_sample: mean=388.0ms, total=388.0ms, count=1, min=388.0ms, max=388.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=395.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 06:55:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:55:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:55:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:55:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:55:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:55:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:55:33 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 06:55:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:55:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041846m	[env.py: 870]
+05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:55:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04592016  1.18869358  0.04184558] yaw=-125.7deg	[env.py: 1019]
+05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76329362  0.46177085  0.04184558] yaw=179.6deg	[env.py: 1019]
+05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67981353  0.3333337   0.04184558] yaw=164.1deg	[env.py: 1019]
+05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:55:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.3ms, total=222.4ms	[env.py: 1075]
+05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.046, 1.189, 0.042)	[env.py: 1079]
+05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.7 deg	[env.py: 1082]
+05/10 06:55:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m	[env.py: 1086]
+05/10 06:55:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:55:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:55:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:55:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:55:33 INFO: [Worker 0] Worker 0 house 1 episode 86/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:55:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:55:33 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 06:55:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:55:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:55:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.396s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:55:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.502[m] 86.887[deg]	[grasp_sample.py: 539]
+05/10 06:55:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:55:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:55:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:55:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:55:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:55:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:56:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:56:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:56:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:56:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:56:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:56:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:56:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:56:24 INFO: [Worker 0] Worker 0 house 1 episode 84 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:56:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:56:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:56:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:56:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:56:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:56:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:56:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 06:56:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 06:56:30 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 06:56:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:56:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 82 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:56:30 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.350s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:56:30 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.027[m] 0.784[deg]	[grasp_sample.py: 539]
+05/10 06:56:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:56:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:56:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:56:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:56:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:56:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:56:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:56:47 INFO: [Worker 0] Saved videos eagerly for episode 63 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:56:47 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 06:56:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:56:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:57:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:57:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:57:00 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.63s (batch: 4.61s, save: 8.02s)	[pipeline.py: 300]
+05/10 06:57:00 INFO: [Worker 0] [PROFILE] Episode 84 house 1 success=True episode_total=0.40s:
+  episode_total: mean=206.30s, total=206.30s, count=1, min=206298.0ms, max=206298.0ms
+  sensor_polling: mean=493.7ms, total=148.11s, count=300, min=404.9ms, max=1001.9ms
+  save_trajectories: mean=8.02s, total=8.02s, count=1, min=8023.0ms, max=8023.0ms
+  physics_step: mean=22.6ms, total=6.78s, count=300, min=16.8ms, max=67.2ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4611.6ms, max=4611.6ms
+  task_sampling: mean=400.2ms, total=400.2ms, count=1, min=400.2ms, max=400.2ms
+  task_specific_sample: mean=397.1ms, total=397.1ms, count=1, min=397.1ms, max=397.1ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=376.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 06:57:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:57:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:57:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:57:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:57:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:57:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:57:02 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 06:57:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:57:02 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 06:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015631m	[env.py: 870]
+05/10 06:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:57:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71944063  0.41482139 -0.01563143] yaw=166.7deg	[env.py: 1019]
+05/10 06:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87500575  0.98909979 -0.01563143] yaw=-150.5deg	[env.py: 1019]
+05/10 06:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85362201  0.48932908 -0.01563143] yaw=-183.2deg	[env.py: 1019]
+05/10 06:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:57:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=364.0ms, total=364.0ms	[env.py: 1075]
+05/10 06:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.719, 0.415, -0.016)	[env.py: 1079]
+05/10 06:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.7 deg	[env.py: 1082]
+05/10 06:57:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m	[env.py: 1086]
+05/10 06:57:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:57:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:57:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:57:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:57:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:57:03 INFO: [Worker 0] Worker 0 house 1 episode 85/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:57:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:57:03 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 06:57:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:57:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:57:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:57:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.821s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:57:04 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.559[m] 94.362[deg]	[grasp_sample.py: 539]
+05/10 06:57:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:57:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:57:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:57:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:57:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:57:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:57:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:57:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:57:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:57:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:57:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 06:57:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 06:57:14 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 06:57:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:57:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:57:16 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.635s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:57:16 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.887[deg]	[grasp_sample.py: 539]
+05/10 06:57:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:57:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:57:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:57:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:57:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:57:33 INFO: [Worker 0] Worker 0 house 1 episode 87 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:57:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:57:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:57:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:57:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:57:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:57:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:57:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:57:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:57:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:57:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 06:57:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 06:57:48 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 06:57:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:57:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 86 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:57:49 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.563s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 06:57:49 ERROR: [Worker 0] Worker 0 house 1 episode 86 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 06:57:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:57:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:57:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:57:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:57:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:57:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:57:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:57:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:57:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:57:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 06:57:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:57:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007252m	[env.py: 870]
+05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:57:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9430123   1.2164827   0.00725169] yaw=-137.9deg	[env.py: 1019]
+05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99180296  0.86744686  0.00725169] yaw=-157.5deg	[env.py: 1019]
+05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98889536  0.18793253  0.00725169] yaw=158.1deg	[env.py: 1019]
+05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:57:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.6ms, total=91.6ms	[env.py: 1075]
+05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.943, 1.216, 0.007)	[env.py: 1079]
+05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.9 deg	[env.py: 1082]
+05/10 06:57:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m	[env.py: 1086]
+05/10 06:57:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:57:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:57:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:57:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:57:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:57:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:57:51 INFO: [Worker 0] Worker 0 house 1 episode 87/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:57:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:57:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 06:57:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:57:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:57:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:57:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.442s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:57:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.646[m] 86.776[deg]	[grasp_sample.py: 539]
+05/10 06:57:54 ERROR: [Worker 0] Worker 0 house 1 episode 87 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 06:57:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:57:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:57:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:57:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:57:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:57:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:57:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:57:56 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 06:57:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:57:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035419m	[env.py: 870]
+05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:57:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75140461  0.27970019 -0.03541894] yaw=161.0deg	[env.py: 1019]
+05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.22700065  1.0359369  -0.03541894] yaw=-134.5deg	[env.py: 1019]
+05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98012942  0.80456349 -0.03541894] yaw=-149.1deg	[env.py: 1019]
+05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:57:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.2ms, total=186.2ms	[env.py: 1075]
+05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.280, -0.035)	[env.py: 1079]
+05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.0 deg	[env.py: 1082]
+05/10 06:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m	[env.py: 1086]
+05/10 06:57:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:57:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:57:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:57:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:57:56 INFO: [Worker 0] Worker 0 house 1 episode 88/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:57:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:57:56 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 06:57:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:57:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:57:56 INFO: [Worker 0] Saved videos eagerly for episode 59 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:57:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 06:57:56 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
+05/10 06:57:56 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 06:57:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 06:57:56 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 06:57:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:57:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 68 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:57:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.466s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:57:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.564[m] 96.907[deg]	[grasp_sample.py: 539]
+05/10 06:57:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:57:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:57:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:58:00 INFO: [Worker 0] Feasibility-checked 68 grasps in 3.468s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:58:00 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.034[m] 12.288[deg]	[grasp_sample.py: 539]
+05/10 06:58:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:58:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:58:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:58:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:58:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:58:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:58:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:58:10 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.66s (batch: 4.03s, save: 9.63s)	[pipeline.py: 300]
+05/10 06:58:10 INFO: [Worker 0] [PROFILE] Episode 87 house 1 success=True episode_total=1.16s:
+  episode_total: mean=191.41s, total=191.41s, count=1, min=191412.7ms, max=191412.7ms
+  sensor_polling: mean=475.2ms, total=140.20s, count=295, min=400.8ms, max=1134.8ms
+  save_trajectories: mean=9.63s, total=9.63s, count=1, min=9631.4ms, max=9631.4ms
+  physics_step: mean=24.3ms, total=7.17s, count=295, min=16.5ms, max=84.5ms
+  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4027.5ms, max=4027.5ms
+  task_sampling: mean=1.16s, total=1.16s, count=1, min=1158.9ms, max=1158.9ms
+  task_specific_sample: mean=1.15s, total=1.15s, count=1, min=1154.3ms, max=1154.3ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=540.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.3us, 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 06:58:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:58:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:58:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:58:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:58:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:58:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:58:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:58:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:58:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:58:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 06:58:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:58:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012664m	[env.py: 870]
+05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:58:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92804882  0.18229136  0.01266415] yaw=154.7deg	[env.py: 1019]
+05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.68485493  0.5802498   0.01266415] yaw=-172.7deg	[env.py: 1019]
+05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.13136689  1.18419539  0.01266415] yaw=-119.6deg	[env.py: 1019]
+05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:58:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.1ms, total=80.2ms	[env.py: 1075]
+05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.928, 0.182, 0.013)	[env.py: 1079]
+05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.7 deg	[env.py: 1082]
+05/10 06:58:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
+05/10 06:58:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:58:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:58:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:58:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:58:12 INFO: [Worker 0] Worker 0 house 1 episode 85 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:58:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:58:12 INFO: [Worker 0] Worker 0 house 1 episode 88/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:58:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:58:12 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 06:58:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:58:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:58:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.496s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:58:13 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.424[m] 99.880[deg]	[grasp_sample.py: 539]
+05/10 06:58:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:58:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:58:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:58:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:58:34 INFO: [Worker 0] Saved videos eagerly for episode 61 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 06:58:34 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 06:58:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 06:58:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 06:58:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 06:58:48 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.88s (batch: 4.67s, save: 9.21s)	[pipeline.py: 300]
+05/10 06:58:49 INFO: [Worker 0] [PROFILE] Episode 85 house 1 success=True episode_total=0.55s:
+  episode_total: mean=247.11s, total=247.11s, count=1, min=247109.6ms, max=247109.6ms
+  sensor_polling: mean=498.6ms, total=149.57s, count=300, min=400.4ms, max=1052.1ms
+  save_trajectories: mean=9.21s, total=9.21s, count=1, min=9209.0ms, max=9209.0ms
+  physics_step: mean=23.2ms, total=6.97s, count=300, min=13.6ms, max=117.8ms
+  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4667.4ms, max=4667.4ms
+  task_sampling: mean=550.1ms, total=550.1ms, count=1, min=550.1ms, max=550.1ms
+  task_specific_sample: mean=545.8ms, total=545.8ms, count=1, min=545.8ms, max=545.8ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=488.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  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 06:58:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 06:58:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 06:58:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 06:58:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:58:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:58:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 06:58:50 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 06:58:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 06:58:50 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 06:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 06:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 06:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049712m	[env.py: 870]
+05/10 06:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 06:58:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 06:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 06:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02754611  1.26334035  0.04971153] yaw=-126.9deg	[env.py: 1019]
+05/10 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01178451  0.33644086  0.04971153] yaw=160.7deg	[env.py: 1019]
+05/10 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96400527  1.07501723  0.04971153] yaw=-144.5deg	[env.py: 1019]
+05/10 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 06:58:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.2ms, total=123.2ms	[env.py: 1075]
+05/10 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.028, 1.263, 0.050)	[env.py: 1079]
+05/10 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.9 deg	[env.py: 1082]
+05/10 06:58:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
+05/10 06:58:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 06:58:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 06:58:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 06:58:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 06:58:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 06:58:51 INFO: [Worker 0] Worker 0 house 1 episode 86/240 collected=0/40	[pipeline.py: 1044]
+05/10 06:58:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/10 06:58:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 06:58:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 06:58:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 06:58:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:58:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.927s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 06:58:54 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.616[m] 79.842[deg]	[grasp_sample.py: 539]
+05/10 06:58:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 06:58:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 06:58:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:58:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:59:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:59:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 06:59:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:59:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 06:59:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:59:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:59:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 06:59:41 INFO: [Worker 0] Worker 0 house 1 episode 85 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 06:59:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:00:02 INFO: [Worker 0] Saved videos eagerly for episode 64 to /scr/ravenh/fridge_7/sim	[pipeline.py: 1174]
+05/10 07:00:02 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 07:00:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 07:00:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 07:00:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:00:08 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 07:00:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 07:00:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 07:00:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:00:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:00:11 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.248s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:00:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.662[deg]	[grasp_sample.py: 539]
+05/10 07:00:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 07:00:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 07:00:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:00:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:00:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:00:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 07:00:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim	[save_utils.py: 785]
+05/10 07:00:16 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.41s (batch: 4.70s, save: 9.71s)	[pipeline.py: 300]
+05/10 07:00:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:00:17 INFO: [Worker 0] [PROFILE] Episode 85 house 1 success=True episode_total=0.65s:
+  episode_total: mean=195.08s, total=195.08s, count=1, min=195075.7ms, max=195075.7ms
+  sensor_polling: mean=468.8ms, total=140.65s, count=300, min=398.4ms, max=933.9ms
+  save_trajectories: mean=9.71s, total=9.71s, count=1, min=9707.0ms, max=9707.0ms
+  physics_step: mean=23.2ms, total=6.95s, count=300, min=16.9ms, max=68.6ms
+  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4699.0ms, max=4699.0ms
+  task_sampling: mean=651.3ms, total=651.3ms, count=1, min=651.3ms, max=651.3ms
+  task_specific_sample: mean=647.5ms, total=647.5ms, count=1, min=647.5ms, max=647.5ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=435.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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 07:00:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 07:00:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 07:00:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 07:00:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:00:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:00:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:00:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:00:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 07:00:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 07:00:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 07:00:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 07:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 07:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 07:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041230m	[env.py: 870]
+05/10 07:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 07:00:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 07:00:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 07:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:00:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 07:00:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.7222051   0.94105255  0.04123036] yaw=-144.4deg	[env.py: 1019]
+05/10 07:00:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 07:00:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.83218823  0.41174133  0.04123036] yaw=185.4deg	[env.py: 1019]
+05/10 07:00:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 07:00:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 07:00:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=734.6ms, total=734.7ms	[env.py: 1075]
+05/10 07:00:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.722, 0.941, 0.041)	[env.py: 1079]
+05/10 07:00:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.4 deg	[env.py: 1082]
+05/10 07:00:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m	[env.py: 1086]
+05/10 07:00:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 07:00:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 07:00:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 07:00:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 07:00:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 07:00:20 INFO: [Worker 0] Worker 0 house 1 episode 86/240 collected=0/40	[pipeline.py: 1044]
+05/10 07:00:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/10 07:00:20 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 07:00:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:00:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:00:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:00:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.653s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:00:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.688[m] 98.333[deg]	[grasp_sample.py: 539]
+05/10 07:00:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 07:00:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 07:00:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:00:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:00:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 07:00:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:00:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 07:00:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 07:00:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 07:00:26 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 07:00:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 07:00:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 07:00:26 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.378s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 07:00:26 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.118[deg]	[grasp_sample.py: 539]